# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <mappingauv> on cpu <ross> at <Fri May 19 10:10:01 CST 2017>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2295 2017-03-27 07:28:28Z caress r
# 
# Mission Summary:
#     Route File:               MVG96_m1_v2.rte
#     Mission File:             MVG96_m1_v2.cfg
#     Distance:                 105499.206976 (m)
#     Estimated Time:           71650 (s)  19.903 (hr)
#     Abort Time:               73148 (s)
#     Max battery life:         75600 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              651 (s)
#     Way Points:               36
#     Route Points:             892
#     Survey Behaviors:
#          Behavior for waypoint mode 0:   WaypointDepth
#          Behavior for waypoint mode 1:   WaypointDepth
#          Behavior for waypoint mode 2:   WaypointDepth
#          Behavior for waypoint mode 3:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Spiral descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           30 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            0.001 usec
#                                 Multibeam minimum range fraction: 0.5
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 50 (m)
#     Abort Vehicle Altitude 1:   20 (m)
#     Delta Depth Restart 1:      30 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 75 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      636.001994 (m)
#     Abort Vehicle Depth:        661.001994 (m)
#     Descent Vehicle Depth:      3 (m)
#     Spiral descent depth:       551.034465 m
#     Spiral descent altitude:    50 m
#     Forward Looking Distance:   200 (m)
#     Waypoint Spacing:           100 (m)
#     Maximum climb rate:         15 (degrees)
#     GPS Duration:               600 (s)
#     Descend Rate:               0.417 (m/s)
#     Ascend Rate:                1 (m/s)
#     Initial descend Duration:   300 (s)
#     Setpoint Duration:          30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 120.328331 22.166062 -611.034465 0.000000 3
#   1 120.347876 22.155153 -619.071777 2352.734344 4
#   2 120.355676 22.167286 -595.259598 3920.395209 3
#   3 120.336980 22.177931 -603.326660 6182.812883 4
#   4 120.343403 22.187719 -555.949753 7454.484115 3
#   5 120.362100 22.177074 -541.216003 9716.901789 4
#   6 120.368526 22.186861 -499.130898 10988.573021 3
#   7 120.349828 22.197507 -523.810669 13250.990695 4
#   8 120.357545 22.206559 -430.763390 14532.220152 3
#   9 120.325425 22.157618 -614.702271 20890.576354 4
#   10 120.326665 22.156913 -613.832458 21040.576354 3
#   11 120.358785 22.205854 -429.672150 27398.932556 4
#   12 120.360025 22.205148 -430.167305 27548.932556 3
#   13 120.327905 22.156207 -612.832474 33907.288757 4
#   14 120.329144 22.155502 -609.042557 34057.288757 3
#   15 120.361265 22.204442 -432.638344 40415.644959 4
#   16 120.362504 22.203736 -432.062401 40565.644959 3
#   17 120.330384 22.154796 -604.034042 46924.001161 4
#   18 120.331623 22.154090 -606.299149 47074.001161 3
#   19 120.363744 22.203030 -433.609016 53432.357362 4
#   20 120.364984 22.202324 -431.414474 53582.357362 3
#   21 120.332863 22.153385 -610.428375 59940.713564 4
#   22 120.334102 22.152679 -615.331711 60090.713564 3
#   23 120.366224 22.201618 -427.729179 66449.069766 4
#   24 120.367463 22.200912 -424.643440 66599.069766 3
#   25 120.335342 22.151973 -617.231567 72957.425968 4
#   26 120.336581 22.151268 -630.260071 73107.425968 3
#   27 120.368703 22.200206 -424.316666 79465.782169 4
#   28 120.369943 22.199501 -428.276917 79615.782169 3
#   29 120.337821 22.150562 -636.610687 85974.138371 4
#   30 120.339060 22.149857 -649.260712 86124.138371 3
#   31 120.371182 22.198795 -431.130974 92482.494573 4
#   32 120.372422 22.198089 -436.057747 92632.494573 3
#   33 120.340300 22.149151 -658.039459 98990.850774 4
#   34 120.341539 22.148445 -667.116867 99140.850774 3
#   35 120.373661 22.197383 -434.084808 105499.206976 4
# 
# A total of 892 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 73148;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 636.001994;
abortDepth = 661.001994;
minAltitude = 50.000000;
abortAltitude = 20.000000;
deltaDepthRestart = 30.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 651;
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 35
#   Segment length 191.256234 meters
#   Minimum depth: 434.084808 meters looking forward 200.000000 meters along route
#   Maximum depth: 442.621881 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 384.084808 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197383;
longitude = 120.373661;
duration = 765;
# abortOnTimeout    = True; 
initialDepth = 390.825614;
finalDepth = 384.084808;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  384.084808 
#   Seafloor depth:           -434.084808
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.112796 meters
#   Minimum depth: 440.825614 meters looking forward 200.000000 meters along route
#   Maximum depth: 445.613000 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.825614 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195911;
longitude = 120.372695;
duration = 472;
initialDepth = 394.742115;
finalDepth = 390.825614;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.004912
#   Actual altitude:          52.004912
#   Commanded vehicle depth:  390.825614 
#   Seafloor depth:           -442.830526
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.112932 meters
#   Minimum depth: 444.742115 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.125201 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 394.742115 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195002;
longitude = 120.372098;
duration = 472;
initialDepth = 399.935727;
finalDepth = 394.742115;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.343542
#   Actual altitude:          52.343542
#   Commanded vehicle depth:  394.742115 
#   Seafloor depth:           -447.085657
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.113070 meters
#   Minimum depth: 449.935727 meters looking forward 200.000000 meters along route
#   Maximum depth: 458.449479 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 399.935727 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194092;
longitude = 120.371502;
duration = 472;
initialDepth = 406.107047;
finalDepth = 399.935727;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.671037
#   Actual altitude:          53.671037
#   Commanded vehicle depth:  399.935727 
#   Seafloor depth:           -453.606764
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.113207 meters
#   Minimum depth: 456.107047 meters looking forward 200.000000 meters along route
#   Maximum depth: 461.741076 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 406.107047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193183;
longitude = 120.370905;
duration = 472;
initialDepth = 410.633474;
finalDepth = 406.107047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.671037
#   Actual altitude:          53.671037
#   Commanded vehicle depth:  406.107047 
#   Seafloor depth:           -458.462029
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.113343 meters
#   Minimum depth: 460.633474 meters looking forward 200.000000 meters along route
#   Maximum depth: 463.413986 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 410.633474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192274;
longitude = 120.370308;
duration = 472;
initialDepth = 413.384749;
finalDepth = 410.633474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3549819999999
#   Actual altitude:          52.3549819999999
#   Commanded vehicle depth:  410.633474 
#   Seafloor depth:           -462.593508
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 123.325124 meters
#   Minimum depth: 463.384749 meters looking forward 200.000000 meters along route
#   Maximum depth: 473.193520 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 413.384749 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191365;
longitude = 120.369712;
duration = 493;
initialDepth = 417.531001;
finalDepth = 413.384749;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.960034
#   Actual altitude:          51.960034
#   Commanded vehicle depth:  413.384749 
#   Seafloor depth:           -464.269342
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 112.901975 meters
#   Minimum depth: 467.531001 meters looking forward 200.000000 meters along route
#   Maximum depth: 481.336947 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 417.531001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190416;
longitude = 120.369088;
duration = 451;
initialDepth = 428.862799;
finalDepth = 417.531001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.163609
#   Actual altitude:          56.163609
#   Commanded vehicle depth:  417.531001 
#   Seafloor depth:           -473.694610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.113755 meters
#   Minimum depth: 478.862799 meters looking forward 200.000000 meters along route
#   Maximum depth: 486.028702 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 428.862799 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189547;
longitude = 120.368518;
duration = 472;
initialDepth = 435.637683;
finalDepth = 428.862799;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.163609
#   Actual altitude:          56.163609
#   Commanded vehicle depth:  428.862799 
#   Seafloor depth:           -482.908796
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 128.869306 meters
#   Minimum depth: 485.637683 meters looking forward 200.000000 meters along route
#   Maximum depth: 501.992433 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.637683 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188638;
longitude = 120.367921;
duration = 515;
initialDepth = 441.801343;
finalDepth = 435.637683;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.045997
#   Actual altitude:          54.045997
#   Commanded vehicle depth:  435.637683 
#   Seafloor depth:           -488.586484
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 107.358615 meters
#   Minimum depth: 491.801343 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.959349 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 441.801343 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187646;
longitude = 120.367270;
duration = 429;
initialDepth = 462.964218;
finalDepth = 441.801343;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.03372
#   Actual altitude:          62.03372
#   Commanded vehicle depth:  441.801343 
#   Seafloor depth:           -503.835063
# 
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 35
#   Segment length 118.114166 meters
#   Minimum depth: 512.964218 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.913742 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.964218 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186820;
longitude = 120.366728;
duration = 472;
initialDepth = 472.673607;
finalDepth = 462.964218;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.03372
#   Actual altitude:          62.03372
#   Commanded vehicle depth:  462.964218 
#   Seafloor depth:           -522.687059
# 
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 35
#   Segment length 134.413526 meters
#   Minimum depth: 522.673607 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.913742 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 472.673607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185911;
longitude = 120.366131;
duration = 537;
initialDepth = 467.898722;
finalDepth = 472.673607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.722841
#   Actual altitude:          59.722841
#   Commanded vehicle depth:  472.673607 
#   Seafloor depth:           -527.475128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.815217 meters
#   Minimum depth: 517.898722 meters looking forward 200.000000 meters along route
#   Maximum depth: 526.208765 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.898722 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184876;
longitude = 120.365452;
duration = 407;
initialDepth = 466.387538;
finalDepth = 467.898722;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.8015210000001
#   Actual altitude:          54.8015210000001
#   Commanded vehicle depth:  467.898722 
#   Seafloor depth:           -521.833382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.114577 meters
#   Minimum depth: 516.387538 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.552083 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.387538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184093;
longitude = 120.364938;
duration = 472;
initialDepth = 465.114343;
finalDepth = 466.387538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.93466
#   Actual altitude:          53.93466
#   Commanded vehicle depth:  466.387538 
#   Seafloor depth:           -517.615464
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.114714 meters
#   Minimum depth: 515.114343 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.722203 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.114343 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183183;
longitude = 120.364341;
duration = 472;
initialDepth = 464.244597;
finalDepth = 465.114343;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.227926
#   Actual altitude:          51.227926
#   Commanded vehicle depth:  465.114343 
#   Seafloor depth:           -515.998289
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.114851 meters
#   Minimum depth: 514.244597 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.358031 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 464.244597 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182274;
longitude = 120.363744;
duration = 472;
initialDepth = 464.358528;
finalDepth = 464.244597;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.883946
#   Actual altitude:          50.883946
#   Commanded vehicle depth:  464.244597 
#   Seafloor depth:           -514.294386
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.114989 meters
#   Minimum depth: 514.358528 meters looking forward 200.000000 meters along route
#   Maximum depth: 520.728873 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 464.358528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181365;
longitude = 120.363148;
duration = 472;
initialDepth = 468.961651;
finalDepth = 464.358528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.134168
#   Actual altitude:          51.134168
#   Commanded vehicle depth:  464.358528 
#   Seafloor depth:           -515.492696
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.115125 meters
#   Minimum depth: 518.961651 meters looking forward 200.000000 meters along route
#   Maximum depth: 526.938903 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.961651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180456;
longitude = 120.362551;
duration = 472;
initialDepth = 476.784502;
finalDepth = 468.961651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.96432
#   Actual altitude:          53.96432
#   Commanded vehicle depth:  468.961651 
#   Seafloor depth:           -522.925971
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.115263 meters
#   Minimum depth: 526.784502 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.196774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 476.784502 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179547;
longitude = 120.361954;
duration = 472;
initialDepth = 476.780783;
finalDepth = 476.784502;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.96432
#   Actual altitude:          53.96432
#   Commanded vehicle depth:  476.784502 
#   Seafloor depth:           -529.249029
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.115399 meters
#   Minimum depth: 526.780783 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.189288 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 476.780783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178638;
longitude = 120.361357;
duration = 472;
initialDepth = 470.690099;
finalDepth = 476.780783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.973836
#   Actual altitude:          52.973836
#   Commanded vehicle depth:  476.780783 
#   Seafloor depth:           -529.754619
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.115537 meters
#   Minimum depth: 520.690099 meters looking forward 200.000000 meters along route
#   Maximum depth: 528.226963 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.690099 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177729;
longitude = 120.360761;
duration = 472;
initialDepth = 465.370790;
finalDepth = 470.690099;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.762391
#   Actual altitude:          54.762391
#   Commanded vehicle depth:  470.690099 
#   Seafloor depth:           -525.452490
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 122.903617 meters
#   Minimum depth: 515.370790 meters looking forward 200.000000 meters along route
#   Maximum depth: 520.895041 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.370790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176820;
longitude = 120.360164;
duration = 491;
initialDepth = 465.370790;
finalDepth = 465.370790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.762391
#   Actual altitude:          54.762391
#   Commanded vehicle depth:  465.37079 
#   Seafloor depth:           -516.746160
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 113.327867 meters
#   Minimum depth: 515.370790 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.844687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.370790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175874;
longitude = 120.359543;
duration = 453;
initialDepth = 470.856117;
finalDepth = 465.370790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3234809999999
#   Actual altitude:          52.3234809999999
#   Commanded vehicle depth:  465.37079 
#   Seafloor depth:           -517.694271
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.115948 meters
#   Minimum depth: 520.856117 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.839840 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.856117 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175002;
longitude = 120.358971;
duration = 472;
initialDepth = 479.308023;
finalDepth = 470.856117;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.739069
#   Actual altitude:          54.739069
#   Commanded vehicle depth:  470.856117 
#   Seafloor depth:           -525.595186
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 128.447901 meters
#   Minimum depth: 529.308023 meters looking forward 200.000000 meters along route
#   Maximum depth: 538.453818 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 479.308023 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174093;
longitude = 120.358374;
duration = 513;
initialDepth = 485.209760;
finalDepth = 479.308023;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.739069
#   Actual altitude:          54.739069
#   Commanded vehicle depth:  479.308023 
#   Seafloor depth:           -533.133612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 107.784406 meters
#   Minimum depth: 535.209760 meters looking forward 200.000000 meters along route
#   Maximum depth: 543.202172 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 485.209760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173104;
longitude = 120.357725;
duration = 431;
initialDepth = 490.939297;
finalDepth = 485.209760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.8255889999999
#   Actual altitude:          53.8255889999999
#   Commanded vehicle depth:  485.20976 
#   Seafloor depth:           -538.915294
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.116359 meters
#   Minimum depth: 540.939297 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.823258 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 490.939297 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172274;
longitude = 120.357180;
duration = 472;
initialDepth = 499.467084;
finalDepth = 490.939297;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7055340000001
#   Actual altitude:          53.7055340000001
#   Commanded vehicle depth:  490.939297 
#   Seafloor depth:           -544.347883
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 133.992223 meters
#   Minimum depth: 549.467084 meters looking forward 200.000000 meters along route
#   Maximum depth: 570.528387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 499.467084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171365;
longitude = 120.356584;
duration = 535;
initialDepth = 512.057214;
finalDepth = 499.467084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.069895
#   Actual altitude:          57.069895
#   Commanded vehicle depth:  499.467084 
#   Seafloor depth:           -556.536979
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.240907 meters
#   Minimum depth: 562.057214 meters looking forward 200.000000 meters along route
#   Maximum depth: 584.566932 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 512.057214 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170334;
longitude = 120.355907;
duration = 408;
initialDepth = 527.307021;
finalDepth = 512.057214;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.136003
#   Actual altitude:          60.136003
#   Commanded vehicle depth:  512.057214 
#   Seafloor depth:           -572.193217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.116770 meters
#   Minimum depth: 577.307021 meters looking forward 200.000000 meters along route
#   Maximum depth: 591.903884 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.307021 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169547;
longitude = 120.355390;
duration = 472;
initialDepth = 541.206106;
finalDepth = 527.307021;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.136003
#   Actual altitude:          60.136003
#   Commanded vehicle depth:  527.307021 
#   Seafloor depth:           -586.246500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.116908 meters
#   Minimum depth: 591.206106 meters looking forward 200.000000 meters along route
#   Maximum depth: 592.570329 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.206106 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168638;
longitude = 120.354793;
duration = 472;
initialDepth = 542.502929;
finalDepth = 541.206106;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.939479
#   Actual altitude:          58.939479
#   Commanded vehicle depth:  541.206106 
#   Seafloor depth:           -592.530835
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.117044 meters
#   Minimum depth: 592.502929 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.572753 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 542.502929 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167729;
longitude = 120.354197;
duration = 472;
initialDepth = 544.266439;
finalDepth = 542.502929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.324729
#   Actual altitude:          51.324729
#   Commanded vehicle depth:  542.502929 
#   Seafloor depth:           -592.966712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.117182 meters
#   Minimum depth: 594.266439 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.729768 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.266439 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166820;
longitude = 120.353600;
duration = 472;
initialDepth = 547.324929;
finalDepth = 544.266439;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.518377
#   Actual altitude:          51.518377
#   Commanded vehicle depth:  544.266439 
#   Seafloor depth:           -595.784816
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.117319 meters
#   Minimum depth: 597.324929 meters looking forward 200.000000 meters along route
#   Maximum depth: 599.169798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.324929 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165911;
longitude = 120.353003;
duration = 472;
initialDepth = 549.116260;
finalDepth = 547.324929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.518377
#   Actual altitude:          51.518377
#   Commanded vehicle depth:  547.324929 
#   Seafloor depth:           -598.402707
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.117456 meters
#   Minimum depth: 599.116260 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.231668 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 549.116260 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165002;
longitude = 120.352407;
duration = 472;
initialDepth = 550.911110;
finalDepth = 549.116260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.077778
#   Actual altitude:          51.077778
#   Commanded vehicle depth:  549.11626 
#   Seafloor depth:           -599.956081
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.117593 meters
#   Minimum depth: 600.911110 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.042510 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.911110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164093;
longitude = 120.351810;
duration = 472;
initialDepth = 553.521324;
finalDepth = 550.911110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.344992
#   Actual altitude:          51.344992
#   Commanded vehicle depth:  550.91111 
#   Seafloor depth:           -602.256102
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.117730 meters
#   Minimum depth: 603.521324 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.793469 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.521324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163183;
longitude = 120.351213;
duration = 472;
initialDepth = 554.180828;
finalDepth = 553.521324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.344992
#   Actual altitude:          51.344992
#   Commanded vehicle depth:  553.521324 
#   Seafloor depth:           -604.372905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 122.482095 meters
#   Minimum depth: 604.180828 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.793469 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 554.180828 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162274;
longitude = 120.350616;
duration = 489;
initialDepth = 552.577407;
finalDepth = 554.180828;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8515809999999
#   Actual altitude:          50.8515809999999
#   Commanded vehicle depth:  554.180828 
#   Seafloor depth:           -604.759968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 113.753777 meters
#   Minimum depth: 602.577407 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.529461 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.577407 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161332;
longitude = 120.349998;
duration = 455;
initialDepth = 551.473844;
finalDepth = 552.577407;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.566193
#   Actual altitude:          51.566193
#   Commanded vehicle depth:  552.577407 
#   Seafloor depth:           -604.143600
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.118141 meters
#   Minimum depth: 601.473844 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.183656 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 551.473844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160456;
longitude = 120.349423;
duration = 472;
initialDepth = 550.760862;
finalDepth = 551.473844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.566193
#   Actual altitude:          51.566193
#   Commanded vehicle depth:  551.473844 
#   Seafloor depth:           -602.057575
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 128.026480 meters
#   Minimum depth: 600.760862 meters looking forward 200.000000 meters along route
#   Maximum depth: 601.483175 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.760862 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159547;
longitude = 120.348826;
duration = 512;
initialDepth = 550.760862;
finalDepth = 550.760862;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5837310000001
#   Actual altitude:          50.5837310000001
#   Commanded vehicle depth:  550.760862 
#   Seafloor depth:           -601.026254
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 108.210215 meters
#   Minimum depth: 600.760862 meters looking forward 200.000000 meters along route
#   Maximum depth: 601.122566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.760862 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158562;
longitude = 120.348179;
duration = 432;
initialDepth = 550.223279;
finalDepth = 550.760862;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.265392
#   Actual altitude:          50.265392
#   Commanded vehicle depth:  550.760862 
#   Seafloor depth:           -600.882107
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.118553 meters
#   Minimum depth: 600.223279 meters looking forward 200.000000 meters along route
#   Maximum depth: 601.122566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.223279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157729;
longitude = 120.347633;
duration = 472;
initialDepth = 550.035224;
finalDepth = 550.223279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5182229999999
#   Actual altitude:          50.5182229999999
#   Commanded vehicle depth:  550.223279 
#   Seafloor depth:           -600.741502
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 133.570903 meters
#   Minimum depth: 600.035224 meters looking forward 200.000000 meters along route
#   Maximum depth: 601.392941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.035224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156820;
longitude = 120.347036;
duration = 534;
initialDepth = 550.406676;
finalDepth = 550.035224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5182229999999
#   Actual altitude:          50.5182229999999
#   Commanded vehicle depth:  550.035224 
#   Seafloor depth:           -600.035224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.666614 meters
#   Minimum depth: 600.406676 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.598251 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.406676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155792;
longitude = 120.346361;
duration = 410;
initialDepth = 552.897792;
finalDepth = 550.406676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3333230000001
#   Actual altitude:          51.3333230000001
#   Commanded vehicle depth:  550.406676 
#   Seafloor depth:           -601.739999
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.118964 meters
#   Minimum depth: 602.897792 meters looking forward 200.000000 meters along route
#   Maximum depth: 608.152209 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.897792 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155002;
longitude = 120.345843;
duration = 472;
initialDepth = 557.361951;
finalDepth = 552.897792;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.149186
#   Actual altitude:          52.149186
#   Commanded vehicle depth:  552.897792 
#   Seafloor depth:           -605.046978
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.119101 meters
#   Minimum depth: 607.361951 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.934863 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 557.361951 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154093;
longitude = 120.345246;
duration = 472;
initialDepth = 562.367154;
finalDepth = 557.361951;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.551692
#   Actual altitude:          52.551692
#   Commanded vehicle depth:  557.361951 
#   Seafloor depth:           -609.913643
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.119239 meters
#   Minimum depth: 612.367154 meters looking forward 200.000000 meters along route
#   Maximum depth: 630.200728 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.367154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.153183;
longitude = 120.344649;
duration = 472;
initialDepth = 576.555242;
finalDepth = 562.367154;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.055176
#   Actual altitude:          56.055176
#   Commanded vehicle depth:  562.367154 
#   Seafloor depth:           -618.422330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.119376 meters
#   Minimum depth: 626.555242 meters looking forward 200.000000 meters along route
#   Maximum depth: 636.092453 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 576.555242 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.152274;
longitude = 120.344052;
duration = 472;
initialDepth = 584.640674;
finalDepth = 576.555242;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.055176
#   Actual altitude:          56.055176
#   Commanded vehicle depth:  576.555242 
#   Seafloor depth:           -630.683890
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.119513 meters
#   Minimum depth: 634.640674 meters looking forward 200.000000 meters along route
#   Maximum depth: 641.809367 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 584.640674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.151365;
longitude = 120.343456;
duration = 472;
initialDepth = 591.523401;
finalDepth = 584.640674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.128648
#   Actual altitude:          54.128648
#   Commanded vehicle depth:  584.640674 
#   Seafloor depth:           -638.124609
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 118.119650 meters
#   Minimum depth: 641.523401 meters looking forward 200.000000 meters along route
#   Maximum depth: 654.745284 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 591.523401 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.150456;
longitude = 120.342859;
duration = 472;
initialDepth = 604.745284;
finalDepth = 591.523401;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.452941
#   Actual altitude:          54.452941
#   Commanded vehicle depth:  591.523401 
#   Seafloor depth:           -645.976342
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 143.172630 meters
#   Minimum depth: 654.745284 meters looking forward 200.000000 meters along route
#   Maximum depth: 664.960774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 604.745284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.149547;
longitude = 120.342262;
duration = 572;
initialDepth = 611.001994;
finalDepth = 604.745284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.452941
#   Actual altitude:          54.452941
#   Commanded vehicle depth:  604.745284 
#   Seafloor depth:           -654.875169
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 150.000000 meters
#   Minimum depth: 661.001994 meters looking forward 200.000000 meters along route
#   Maximum depth: 667.116867 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 611.001994 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.148445;
longitude = 120.341539;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 597.951961;
finalDepth = 611.001994;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       56.114873
#   Actual altitude:          56.114873
#   Commanded vehicle depth:  611.001994 
#   Seafloor depth:           -667.116867
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.06;
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 33
#   Segment length 120.189393 meters
#   Minimum depth: 647.951961 meters looking forward 200.000000 meters along route
#   Maximum depth: 663.526393 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 597.951961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.149151;
longitude = 120.340300;
duration = 480;
# abortOnTimeout    = True; 
initialDepth = 587.175880;
finalDepth = 597.951961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.087498
#   Actual altitude:          60.087498
#   Commanded vehicle depth:  597.951961 
#   Seafloor depth:           -658.039459
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 108.471761 meters
#   Minimum depth: 637.175880 meters looking forward 200.000000 meters along route
#   Maximum depth: 657.094957 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 587.175880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.150076;
longitude = 120.340907;
duration = 433;
initialDepth = 580.662922;
finalDepth = 587.175880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.087498
#   Actual altitude:          60.087498
#   Commanded vehicle depth:  587.17588 
#   Seafloor depth:           -646.765004
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.118888 meters
#   Minimum depth: 630.662922 meters looking forward 200.000000 meters along route
#   Maximum depth: 641.175310 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 580.662922 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.150911;
longitude = 120.341455;
duration = 472;
initialDepth = 569.264266;
finalDepth = 580.662922;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.589124
#   Actual altitude:          59.589124
#   Commanded vehicle depth:  580.662922 
#   Seafloor depth:           -635.484717
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 133.314208 meters
#   Minimum depth: 619.264266 meters looking forward 200.000000 meters along route
#   Maximum depth: 631.444417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 569.264266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.151820;
longitude = 120.342051;
duration = 533;
initialDepth = 555.933685;
finalDepth = 569.264266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3023929999999
#   Actual altitude:          58.3023929999999
#   Commanded vehicle depth:  569.264266 
#   Seafloor depth:           -627.566659
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.923155 meters
#   Minimum depth: 605.933685 meters looking forward 200.000000 meters along route
#   Maximum depth: 624.471314 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 555.933685 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.152846;
longitude = 120.342725;
duration = 411;
initialDepth = 547.741837;
finalDepth = 555.933685;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.2142190000001
#   Actual altitude:          61.2142190000001
#   Commanded vehicle depth:  555.933685 
#   Seafloor depth:           -617.147904
# 
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 33
#   Segment length 118.118476 meters
#   Minimum depth: 597.741837 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.119061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.741837 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.153638;
longitude = 120.343245;
duration = 472;
initialDepth = 541.349639;
finalDepth = 547.741837;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.2142190000001
#   Actual altitude:          61.2142190000001
#   Commanded vehicle depth:  547.741837 
#   Seafloor depth:           -604.416466
# 
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 33
#   Segment length 118.118339 meters
#   Minimum depth: 591.349639 meters looking forward 200.000000 meters along route
#   Maximum depth: 599.146681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.349639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154547;
longitude = 120.343842;
duration = 472;
initialDepth = 534.153450;
finalDepth = 541.349639;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.674629
#   Actual altitude:          56.674629
#   Commanded vehicle depth:  541.349639 
#   Seafloor depth:           -594.758625
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.118202 meters
#   Minimum depth: 584.153450 meters looking forward 200.000000 meters along route
#   Maximum depth: 591.907880 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.153450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155456;
longitude = 120.344438;
duration = 472;
initialDepth = 533.153851;
finalDepth = 534.153450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.016542
#   Actual altitude:          54.016542
#   Commanded vehicle depth:  534.15345 
#   Seafloor depth:           -588.169992
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.118064 meters
#   Minimum depth: 583.153851 meters looking forward 200.000000 meters along route
#   Maximum depth: 585.653658 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.153851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156365;
longitude = 120.345035;
duration = 472;
initialDepth = 533.010690;
finalDepth = 533.153851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.016542
#   Actual altitude:          54.016542
#   Commanded vehicle depth:  533.153851 
#   Seafloor depth:           -583.980913
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.117928 meters
#   Minimum depth: 583.010690 meters looking forward 200.000000 meters along route
#   Maximum depth: 583.467427 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.010690 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157274;
longitude = 120.345632;
duration = 472;
initialDepth = 533.438086;
finalDepth = 533.010690;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.827062
#   Actual altitude:          50.827062
#   Commanded vehicle depth:  533.01069 
#   Seafloor depth:           -583.010690
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.117790 meters
#   Minimum depth: 583.438086 meters looking forward 200.000000 meters along route
#   Maximum depth: 587.046582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.438086 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158183;
longitude = 120.346228;
duration = 472;
initialDepth = 535.571423;
finalDepth = 533.438086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.35016
#   Actual altitude:          51.35016
#   Commanded vehicle depth:  533.438086 
#   Seafloor depth:           -584.788246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.117653 meters
#   Minimum depth: 585.571423 meters looking forward 200.000000 meters along route
#   Maximum depth: 589.981577 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 535.571423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159093;
longitude = 120.346825;
duration = 472;
initialDepth = 538.791189;
finalDepth = 535.571423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5117320000001
#   Actual altitude:          51.5117320000001
#   Commanded vehicle depth:  535.571423 
#   Seafloor depth:           -587.083155
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.117516 meters
#   Minimum depth: 588.791189 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.418328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 538.791189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160002;
longitude = 120.347422;
duration = 472;
initialDepth = 543.385302;
finalDepth = 538.791189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2327289999999
#   Actual altitude:          52.2327289999999
#   Commanded vehicle depth:  538.791189 
#   Seafloor depth:           -591.023918
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.814866 meters
#   Minimum depth: 593.385302 meters looking forward 200.000000 meters along route
#   Maximum depth: 599.661476 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.385302 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160911;
longitude = 120.348019;
duration = 487;
initialDepth = 547.024230;
finalDepth = 543.385302;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2327289999999
#   Actual altitude:          52.2327289999999
#   Commanded vehicle depth:  543.385302 
#   Seafloor depth:           -595.066718
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 114.419754 meters
#   Minimum depth: 597.024230 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.197870 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.024230 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161848;
longitude = 120.348634;
duration = 457;
initialDepth = 551.842084;
finalDepth = 547.024230;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.798346
#   Actual altitude:          52.798346
#   Commanded vehicle depth:  547.02423 
#   Seafloor depth:           -599.822576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.117105 meters
#   Minimum depth: 601.842084 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.295945 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 551.842084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162729;
longitude = 120.349212;
duration = 472;
initialDepth = 555.194590;
finalDepth = 551.842084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.798346
#   Actual altitude:          52.798346
#   Commanded vehicle depth:  551.842084 
#   Seafloor depth:           -603.782211
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 127.362585 meters
#   Minimum depth: 605.194590 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.678334 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 555.194590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163638;
longitude = 120.349809;
duration = 509;
initialDepth = 554.055784;
finalDepth = 555.194590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.940127
#   Actual altitude:          51.940127
#   Commanded vehicle depth:  555.19459 
#   Seafloor depth:           -605.608957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 108.871213 meters
#   Minimum depth: 604.055784 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.678334 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 554.055784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164618;
longitude = 120.350452;
duration = 435;
initialDepth = 552.300179;
finalDepth = 554.055784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.100027
#   Actual altitude:          51.100027
#   Commanded vehicle depth:  554.055784 
#   Seafloor depth:           -605.155811
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.116693 meters
#   Minimum depth: 602.300179 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.560083 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.300179 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.351002;
duration = 472;
initialDepth = 548.159655;
finalDepth = 552.300179;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.436223
#   Actual altitude:          51.436223
#   Commanded vehicle depth:  552.300179 
#   Seafloor depth:           -603.736402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 132.910266 meters
#   Minimum depth: 598.159655 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.555618 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 548.159655 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166365;
longitude = 120.351599;
duration = 531;
initialDepth = 544.538930;
finalDepth = 548.159655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.162122
#   Actual altitude:          53.162122
#   Commanded vehicle depth:  548.159655 
#   Seafloor depth:           -601.321777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 103.322708 meters
#   Minimum depth: 594.538930 meters looking forward 200.000000 meters along route
#   Maximum depth: 600.283390 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.538930 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167388;
longitude = 120.352270;
duration = 413;
initialDepth = 543.147182;
finalDepth = 544.538930;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.162122
#   Actual altitude:          53.162122
#   Commanded vehicle depth:  544.53893 
#   Seafloor depth:           -597.638243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.116282 meters
#   Minimum depth: 593.147182 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.989747 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.147182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168183;
longitude = 120.352792;
duration = 472;
initialDepth = 543.147182;
finalDepth = 543.147182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0993129999999
#   Actual altitude:          53.0993129999999
#   Commanded vehicle depth:  543.147182 
#   Seafloor depth:           -594.144703
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.116145 meters
#   Minimum depth: 593.147182 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.246281 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.147182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169093;
longitude = 120.353389;
duration = 472;
initialDepth = 537.860453;
finalDepth = 543.147182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.171979
#   Actual altitude:          51.171979
#   Commanded vehicle depth:  543.147182 
#   Seafloor depth:           -594.319161
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.116007 meters
#   Minimum depth: 587.860453 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.128717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 537.860453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170002;
longitude = 120.353986;
duration = 472;
initialDepth = 520.726474;
finalDepth = 537.860453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.268264
#   Actual altitude:          60.268264
#   Commanded vehicle depth:  537.860453 
#   Seafloor depth:           -598.128717
# 
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 33
#   Segment length 118.115871 meters
#   Minimum depth: 570.726474 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.053896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.726474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170911;
longitude = 120.354582;
duration = 472;
initialDepth = 501.956030;
finalDepth = 520.726474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.9545499999999
#   Actual altitude:          65.9545499999999
#   Commanded vehicle depth:  520.726474 
#   Seafloor depth:           -586.681024
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.115733 meters
#   Minimum depth: 551.956030 meters looking forward 200.000000 meters along route
#   Maximum depth: 575.662076 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.956030 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171820;
longitude = 120.355179;
duration = 472;
initialDepth = 485.127851;
finalDepth = 501.956030;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.9545499999999
#   Actual altitude:          65.9545499999999
#   Commanded vehicle depth:  501.95603 
#   Seafloor depth:           -563.383749
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.115596 meters
#   Minimum depth: 535.127851 meters looking forward 200.000000 meters along route
#   Maximum depth: 552.838574 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 485.127851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172729;
longitude = 120.355776;
duration = 472;
initialDepth = 482.015064;
finalDepth = 485.127851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.4277189999999
#   Actual altitude:          61.4277189999999
#   Commanded vehicle depth:  485.127851 
#   Seafloor depth:           -543.244853
# 
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 33
#   Segment length 118.115459 meters
#   Minimum depth: 532.015064 meters looking forward 200.000000 meters along route
#   Maximum depth: 537.900263 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 482.015064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173638;
longitude = 120.356373;
duration = 472;
initialDepth = 477.574614;
finalDepth = 482.015064;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.1170020000001
#   Actual altitude:          58.1170020000001
#   Commanded vehicle depth:  482.015064 
#   Seafloor depth:           -535.028343
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.115322 meters
#   Minimum depth: 527.574614 meters looking forward 200.000000 meters along route
#   Maximum depth: 533.130117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.574614 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174547;
longitude = 120.356969;
duration = 472;
initialDepth = 470.809259;
finalDepth = 477.574614;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.029497
#   Actual altitude:          53.029497
#   Commanded vehicle depth:  477.574614 
#   Seafloor depth:           -530.604111
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.411142 meters
#   Minimum depth: 520.809259 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.621714 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.809259 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175456;
longitude = 120.357566;
duration = 485;
initialDepth = 468.127212;
finalDepth = 470.809259;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.029497
#   Actual altitude:          53.029497
#   Commanded vehicle depth:  470.809259 
#   Seafloor depth:           -522.533671
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 114.819090 meters
#   Minimum depth: 518.127212 meters looking forward 200.000000 meters along route
#   Maximum depth: 521.512589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.127212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176391;
longitude = 120.358179;
duration = 459;
initialDepth = 465.513666;
finalDepth = 468.127212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.616354
#   Actual altitude:          52.616354
#   Commanded vehicle depth:  468.127212 
#   Seafloor depth:           -520.743566
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.114911 meters
#   Minimum depth: 515.513666 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.022161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.513666 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177274;
longitude = 120.358759;
duration = 472;
initialDepth = 463.729772;
finalDepth = 465.513666;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.616354
#   Actual altitude:          52.616354
#   Commanded vehicle depth:  465.513666 
#   Seafloor depth:           -517.413691
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 126.958761 meters
#   Minimum depth: 513.729772 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.709742 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.729772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178183;
longitude = 120.359356;
duration = 507;
initialDepth = 463.729772;
finalDepth = 463.729772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.900025
#   Actual altitude:          51.900025
#   Commanded vehicle depth:  463.729772 
#   Seafloor depth:           -514.226943
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 109.270649 meters
#   Minimum depth: 513.729772 meters looking forward 200.000000 meters along route
#   Maximum depth: 517.415815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.729772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179161;
longitude = 120.359998;
duration = 437;
initialDepth = 466.298436;
finalDepth = 463.729772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.063051
#   Actual altitude:          51.063051
#   Commanded vehicle depth:  463.729772 
#   Seafloor depth:           -514.792823
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.114499 meters
#   Minimum depth: 516.298436 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.302748 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.298436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.360550;
duration = 472;
initialDepth = 467.525926;
finalDepth = 466.298436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.590732
#   Actual altitude:          51.590732
#   Commanded vehicle depth:  466.298436 
#   Seafloor depth:           -517.889168
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 132.506340 meters
#   Minimum depth: 517.525926 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.562830 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.525926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180911;
longitude = 120.361146;
duration = 530;
initialDepth = 467.329729;
finalDepth = 467.525926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0369039999999
#   Actual altitude:          52.0369039999999
#   Commanded vehicle depth:  467.525926 
#   Seafloor depth:           -519.562830
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 103.722247 meters
#   Minimum depth: 517.329729 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.480130 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.329729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181931;
longitude = 120.361816;
duration = 414;
initialDepth = 467.329729;
finalDepth = 467.329729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0369039999999
#   Actual altitude:          52.0369039999999
#   Commanded vehicle depth:  467.329729 
#   Seafloor depth:           -517.601838
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.114088 meters
#   Minimum depth: 517.329729 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.430866 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.329729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.362340;
duration = 472;
initialDepth = 468.075722;
finalDepth = 467.329729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.546244
#   Actual altitude:          50.546244
#   Commanded vehicle depth:  467.329729 
#   Seafloor depth:           -517.875973
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.113951 meters
#   Minimum depth: 518.075722 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.591170 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.075722 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183638;
longitude = 120.362937;
duration = 472;
initialDepth = 466.488640;
finalDepth = 468.075722;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.546244
#   Actual altitude:          50.546244
#   Commanded vehicle depth:  468.075722 
#   Seafloor depth:           -518.591170
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.113814 meters
#   Minimum depth: 516.488640 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.178014 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.488640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184547;
longitude = 120.363533;
duration = 472;
initialDepth = 466.488640;
finalDepth = 466.488640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.515448
#   Actual altitude:          50.515448
#   Commanded vehicle depth:  466.48864 
#   Seafloor depth:           -516.950804
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.113677 meters
#   Minimum depth: 516.488640 meters looking forward 200.000000 meters along route
#   Maximum depth: 521.890712 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.488640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.364130;
duration = 472;
initialDepth = 470.398610;
finalDepth = 466.488640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.056023
#   Actual altitude:          51.056023
#   Commanded vehicle depth:  466.48864 
#   Seafloor depth:           -517.544663
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.113540 meters
#   Minimum depth: 520.398610 meters looking forward 200.000000 meters along route
#   Maximum depth: 528.344265 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.398610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186365;
longitude = 120.364727;
duration = 472;
initialDepth = 465.587851;
finalDepth = 470.398610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.545103
#   Actual altitude:          53.545103
#   Commanded vehicle depth:  470.39861 
#   Seafloor depth:           -523.943713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.113402 meters
#   Minimum depth: 515.587851 meters looking forward 200.000000 meters along route
#   Maximum depth: 528.344265 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.587851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187274;
longitude = 120.365323;
duration = 472;
initialDepth = 455.408634;
finalDepth = 465.587851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.753192
#   Actual altitude:          62.753192
#   Commanded vehicle depth:  465.587851 
#   Seafloor depth:           -528.341043
# 
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 33
#   Segment length 118.113266 meters
#   Minimum depth: 505.408634 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.432065 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.408634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188183;
longitude = 120.365920;
duration = 472;
initialDepth = 448.490993;
finalDepth = 455.408634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.753192
#   Actual altitude:          62.753192
#   Commanded vehicle depth:  455.408634 
#   Seafloor depth:           -515.150834
# 
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 33
#   Segment length 118.113128 meters
#   Minimum depth: 498.490993 meters looking forward 200.000000 meters along route
#   Maximum depth: 507.823995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 448.490993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189092;
longitude = 120.366517;
duration = 472;
initialDepth = 431.787469;
finalDepth = 448.490993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.7422
#   Actual altitude:          59.7422
#   Commanded vehicle depth:  448.490993 
#   Seafloor depth:           -502.985403
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.007435 meters
#   Minimum depth: 481.787469 meters looking forward 200.000000 meters along route
#   Maximum depth: 498.501833 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 431.787469 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190002;
longitude = 120.367114;
duration = 484;
initialDepth = 423.233140;
finalDepth = 431.787469;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.501454
#   Actual altitude:          61.501454
#   Commanded vehicle depth:  431.787469 
#   Seafloor depth:           -493.288923
# 
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 33
#   Segment length 115.218411 meters
#   Minimum depth: 473.233140 meters looking forward 200.000000 meters along route
#   Maximum depth: 487.796721 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 423.233140 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190933;
longitude = 120.367725;
duration = 460;
initialDepth = 418.875914;
finalDepth = 423.233140;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.501454
#   Actual altitude:          61.501454
#   Commanded vehicle depth:  423.23314 
#   Seafloor depth:           -481.511094
# 
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 33
#   Segment length 118.112717 meters
#   Minimum depth: 468.875914 meters looking forward 200.000000 meters along route
#   Maximum depth: 475.863556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 418.875914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191820;
longitude = 120.368307;
duration = 472;
initialDepth = 416.172414;
finalDepth = 418.875914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.277954
#   Actual altitude:          58.277954
#   Commanded vehicle depth:  418.875914 
#   Seafloor depth:           -471.539699
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 126.554952 meters
#   Minimum depth: 466.172414 meters looking forward 200.000000 meters along route
#   Maximum depth: 469.010058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 416.172414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192729;
longitude = 120.368904;
duration = 506;
initialDepth = 413.221797;
finalDepth = 416.172414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.663785
#   Actual altitude:          52.663785
#   Commanded vehicle depth:  416.172414 
#   Seafloor depth:           -467.919698
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 109.670072 meters
#   Minimum depth: 463.221797 meters looking forward 200.000000 meters along route
#   Maximum depth: 467.549258 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 413.221797 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193703;
longitude = 120.369543;
duration = 438;
initialDepth = 409.608774;
finalDepth = 413.221797;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.777625
#   Actual altitude:          52.777625
#   Commanded vehicle depth:  413.221797 
#   Seafloor depth:           -465.999422
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 118.112306 meters
#   Minimum depth: 459.608774 meters looking forward 200.000000 meters along route
#   Maximum depth: 464.454817 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 409.608774 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194547;
longitude = 120.370097;
duration = 472;
initialDepth = 398.918998;
finalDepth = 409.608774;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.896048
#   Actual altitude:          52.896048
#   Commanded vehicle depth:  409.608774 
#   Seafloor depth:           -462.504822
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 132.102430 meters
#   Minimum depth: 448.918998 meters looking forward 200.000000 meters along route
#   Maximum depth: 460.154004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 398.918998 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195456;
longitude = 120.370694;
duration = 528;
initialDepth = 393.369831;
finalDepth = 398.918998;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.863875
#   Actual altitude:          57.863875
#   Commanded vehicle depth:  398.918998 
#   Seafloor depth:           -456.782873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 104.121771 meters
#   Minimum depth: 443.369831 meters looking forward 200.000000 meters along route
#   Maximum depth: 453.860589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 393.369831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196473;
longitude = 120.371361;
duration = 416;
initialDepth = 387.435779;
finalDepth = 393.369831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.863875
#   Actual altitude:          57.863875
#   Commanded vehicle depth:  393.369831 
#   Seafloor depth:           -448.155092
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 105.806624 meters
#   Minimum depth: 437.435779 meters looking forward 200.000000 meters along route
#   Maximum depth: 445.739746 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 387.435779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197274;
longitude = 120.371887;
duration = 423;
initialDepth = 382.060997;
finalDepth = 387.435779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.203037
#   Actual altitude:          55.203037
#   Commanded vehicle depth:  387.435779 
#   Seafloor depth:           -442.638816
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.60;
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 32
#   Segment length 150.000000 meters
#   Minimum depth: 432.060997 meters looking forward 200.000000 meters along route
#   Maximum depth: 438.862080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.060997 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198089;
longitude = 120.372422;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 381.130974;
finalDepth = 382.060997;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       55.203037
#   Actual altitude:          55.203037
#   Commanded vehicle depth:  382.060997 
#   Seafloor depth:           -436.057747
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.60;
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 31
#   Segment length 79.412631 meters
#   Minimum depth: 431.130974 meters looking forward 200.000000 meters along route
#   Maximum depth: 434.168823 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 381.130974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198795;
longitude = 120.371182;
duration = 317;
# abortOnTimeout    = True; 
initialDepth = 381.130974;
finalDepth = 381.130974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.99675
#   Actual altitude:          53.99675
#   Commanded vehicle depth:  381.130974 
#   Seafloor depth:           -431.130974
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.111337 meters
#   Minimum depth: 431.130974 meters looking forward 200.000000 meters along route
#   Maximum depth: 441.294613 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 381.130974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198183;
longitude = 120.370781;
duration = 472;
initialDepth = 390.899227;
finalDepth = 381.130974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.333866
#   Actual altitude:          54.333866
#   Commanded vehicle depth:  381.130974 
#   Seafloor depth:           -435.464840
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 126.921715 meters
#   Minimum depth: 440.899227 meters looking forward 200.000000 meters along route
#   Maximum depth: 452.946364 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.899227 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197274;
longitude = 120.370184;
duration = 507;
initialDepth = 397.002454;
finalDepth = 390.899227;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.333866
#   Actual altitude:          54.333866
#   Commanded vehicle depth:  390.899227 
#   Seafloor depth:           -444.666517
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 109.301370 meters
#   Minimum depth: 447.002454 meters looking forward 200.000000 meters along route
#   Maximum depth: 458.354764 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 397.002454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196297;
longitude = 120.369543;
duration = 437;
initialDepth = 406.470251;
finalDepth = 397.002454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.562691
#   Actual altitude:          56.562691
#   Commanded vehicle depth:  397.002454 
#   Seafloor depth:           -453.565145
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.111748 meters
#   Minimum depth: 456.470251 meters looking forward 200.000000 meters along route
#   Maximum depth: 461.420378 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 406.470251 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195456;
longitude = 120.368991;
duration = 472;
initialDepth = 411.094607;
finalDepth = 406.470251;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.562691
#   Actual altitude:          56.562691
#   Commanded vehicle depth:  406.470251 
#   Seafloor depth:           -459.153422
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 132.474324 meters
#   Minimum depth: 461.094607 meters looking forward 200.000000 meters along route
#   Maximum depth: 463.453707 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 411.094607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194547;
longitude = 120.368394;
duration = 529;
initialDepth = 412.763100;
finalDepth = 411.094607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.683171
#   Actual altitude:          52.683171
#   Commanded vehicle depth:  411.094607 
#   Seafloor depth:           -462.269169
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 103.749584 meters
#   Minimum depth: 462.763100 meters looking forward 200.000000 meters along route
#   Maximum depth: 466.151995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 412.763100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193527;
longitude = 120.367725;
duration = 414;
initialDepth = 414.579616;
finalDepth = 412.763100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.174562
#   Actual altitude:          51.174562
#   Commanded vehicle depth:  412.7631 
#   Seafloor depth:           -463.667670
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.112159 meters
#   Minimum depth: 464.579616 meters looking forward 200.000000 meters along route
#   Maximum depth: 472.339942 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 414.579616 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192729;
longitude = 120.367201;
duration = 472;
initialDepth = 420.003702;
finalDepth = 414.579616;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.098636
#   Actual altitude:          52.098636
#   Commanded vehicle depth:  414.579616 
#   Seafloor depth:           -466.678252
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.112297 meters
#   Minimum depth: 470.003702 meters looking forward 200.000000 meters along route
#   Maximum depth: 482.753848 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 420.003702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191820;
longitude = 120.366604;
duration = 472;
initialDepth = 431.984107;
finalDepth = 420.003702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.964817
#   Actual altitude:          57.964817
#   Commanded vehicle depth:  420.003702 
#   Seafloor depth:           -477.968519
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.112433 meters
#   Minimum depth: 481.984107 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.561882 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 431.984107 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190911;
longitude = 120.366007;
duration = 472;
initialDepth = 440.453125;
finalDepth = 431.984107;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.964817
#   Actual altitude:          57.964817
#   Commanded vehicle depth:  431.984107 
#   Seafloor depth:           -486.414137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.112571 meters
#   Minimum depth: 490.453125 meters looking forward 200.000000 meters along route
#   Maximum depth: 501.719163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 440.453125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190002;
longitude = 120.365411;
duration = 472;
initialDepth = 449.586727;
finalDepth = 440.453125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.653292
#   Actual altitude:          54.653292
#   Commanded vehicle depth:  440.453125 
#   Seafloor depth:           -495.106417
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.112708 meters
#   Minimum depth: 499.586727 meters looking forward 200.000000 meters along route
#   Maximum depth: 510.209946 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.586727 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189092;
longitude = 120.364814;
duration = 472;
initialDepth = 459.741138;
finalDepth = 449.586727;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.778464
#   Actual altitude:          54.778464
#   Commanded vehicle depth:  449.586727 
#   Seafloor depth:           -504.365191
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.112844 meters
#   Minimum depth: 509.741138 meters looking forward 200.000000 meters along route
#   Maximum depth: 514.904432 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 459.741138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188183;
longitude = 120.364217;
duration = 472;
initialDepth = 456.677380;
finalDepth = 459.741138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.778464
#   Actual altitude:          54.778464
#   Commanded vehicle depth:  459.741138 
#   Seafloor depth:           -514.164639
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.112982 meters
#   Minimum depth: 506.677380 meters looking forward 200.000000 meters along route
#   Maximum depth: 514.904432 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 456.677380 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187274;
longitude = 120.363620;
duration = 472;
initialDepth = 454.804515;
finalDepth = 456.677380;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.19609
#   Actual altitude:          56.19609
#   Commanded vehicle depth:  456.67738 
#   Seafloor depth:           -512.873470
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.113120 meters
#   Minimum depth: 504.804515 meters looking forward 200.000000 meters along route
#   Maximum depth: 508.560031 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 454.804515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186365;
longitude = 120.363024;
duration = 472;
initialDepth = 454.804515;
finalDepth = 454.804515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.19609
#   Actual altitude:          56.19609
#   Commanded vehicle depth:  454.804515 
#   Seafloor depth:           -505.473656
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 120.992281 meters
#   Minimum depth: 504.804515 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.221134 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 454.804515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.362427;
duration = 483;
initialDepth = 458.560945;
finalDepth = 454.804515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.410955
#   Actual altitude:          51.410955
#   Commanded vehicle depth:  454.804515 
#   Seafloor depth:           -506.215470
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 115.234368 meters
#   Minimum depth: 508.560945 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.940368 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.560945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184525;
longitude = 120.361816;
duration = 460;
initialDepth = 462.430874;
finalDepth = 458.560945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.753391
#   Actual altitude:          52.753391
#   Commanded vehicle depth:  458.560945 
#   Seafloor depth:           -511.314336
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.113531 meters
#   Minimum depth: 512.430874 meters looking forward 200.000000 meters along route
#   Maximum depth: 513.131666 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.430874 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183638;
longitude = 120.361234;
duration = 472;
initialDepth = 458.420543;
finalDepth = 462.430874;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.753391
#   Actual altitude:          52.753391
#   Commanded vehicle depth:  462.430874 
#   Seafloor depth:           -513.131666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 126.544953 meters
#   Minimum depth: 508.420543 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.548669 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.420543 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.360637;
duration = 506;
initialDepth = 456.428869;
finalDepth = 458.420543;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.86225
#   Actual altitude:          52.86225
#   Commanded vehicle depth:  458.420543 
#   Seafloor depth:           -511.282793
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 109.682519 meters
#   Minimum depth: 506.428869 meters looking forward 200.000000 meters along route
#   Maximum depth: 510.432948 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 456.428869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181755;
longitude = 120.359998;
duration = 438;
initialDepth = 454.925628;
finalDepth = 456.428869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.86225
#   Actual altitude:          52.86225
#   Commanded vehicle depth:  456.428869 
#   Seafloor depth:           -508.213772
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.113941 meters
#   Minimum depth: 504.925628 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.894673 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 454.925628 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180911;
longitude = 120.359443;
duration = 472;
initialDepth = 454.067710;
finalDepth = 454.925628;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.784903
#   Actual altitude:          51.784903
#   Commanded vehicle depth:  454.925628 
#   Seafloor depth:           -506.262313
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 132.097665 meters
#   Minimum depth: 504.067710 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.076312 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 454.067710 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.358847;
duration = 528;
initialDepth = 453.887916;
finalDepth = 454.067710;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.336685
#   Actual altitude:          51.336685
#   Commanded vehicle depth:  454.06771 
#   Seafloor depth:           -504.393983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 104.130630 meters
#   Minimum depth: 503.887916 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.240603 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 453.887916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178985;
longitude = 120.358179;
duration = 416;
initialDepth = 454.237000;
finalDepth = 453.887916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.326273
#   Actual altitude:          50.326273
#   Commanded vehicle depth:  453.887916 
#   Seafloor depth:           -503.887916
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.114353 meters
#   Minimum depth: 504.237000 meters looking forward 200.000000 meters along route
#   Maximum depth: 510.856889 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 454.237000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178183;
longitude = 120.357653;
duration = 472;
initialDepth = 460.375618;
finalDepth = 454.237000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.826886
#   Actual altitude:          52.826886
#   Commanded vehicle depth:  454.237 
#   Seafloor depth:           -507.063886
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.114491 meters
#   Minimum depth: 510.375618 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.645955 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.375618 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177274;
longitude = 120.357057;
duration = 472;
initialDepth = 462.482227;
finalDepth = 460.375618;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.826886
#   Actual altitude:          52.826886
#   Commanded vehicle depth:  460.375618 
#   Seafloor depth:           -511.555826
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.114627 meters
#   Minimum depth: 512.482227 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.506075 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.482227 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176365;
longitude = 120.356460;
duration = 472;
initialDepth = 467.217605;
finalDepth = 462.482227;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.479412
#   Actual altitude:          52.479412
#   Commanded vehicle depth:  462.482227 
#   Seafloor depth:           -514.961639
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.114765 meters
#   Minimum depth: 517.217605 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.571975 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.217605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175456;
longitude = 120.355863;
duration = 472;
initialDepth = 475.003957;
finalDepth = 467.217605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.762172
#   Actual altitude:          52.762172
#   Commanded vehicle depth:  467.217605 
#   Seafloor depth:           -519.979777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.114901 meters
#   Minimum depth: 525.003957 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.561288 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 475.003957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174547;
longitude = 120.355267;
duration = 472;
initialDepth = 477.410716;
finalDepth = 475.003957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.762172
#   Actual altitude:          52.762172
#   Commanded vehicle depth:  475.003957 
#   Seafloor depth:           -526.257715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.115039 meters
#   Minimum depth: 527.410716 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.098349 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.410716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173638;
longitude = 120.354670;
duration = 472;
initialDepth = 487.107589;
finalDepth = 477.410716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1685650000001
#   Actual altitude:          53.1685650000001
#   Commanded vehicle depth:  477.410716 
#   Seafloor depth:           -530.579281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.115176 meters
#   Minimum depth: 537.107589 meters looking forward 200.000000 meters along route
#   Maximum depth: 564.771835 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 487.107589 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172729;
longitude = 120.354073;
duration = 472;
initialDepth = 509.598036;
finalDepth = 487.107589;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.53051
#   Actual altitude:          60.53051
#   Commanded vehicle depth:  487.107589 
#   Seafloor depth:           -547.638099
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.115313 meters
#   Minimum depth: 559.598036 meters looking forward 200.000000 meters along route
#   Maximum depth: 576.025357 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.598036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171820;
longitude = 120.353476;
duration = 472;
initialDepth = 525.975357;
finalDepth = 509.598036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.53051
#   Actual altitude:          60.53051
#   Commanded vehicle depth:  509.598036 
#   Seafloor depth:           -569.736250
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 120.615404 meters
#   Minimum depth: 575.975357 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.183729 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.975357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170911;
longitude = 120.352880;
duration = 482;
initialDepth = 525.975357;
finalDepth = 525.975357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.1382140000001
#   Actual altitude:          60.1382140000001
#   Commanded vehicle depth:  525.975357 
#   Seafloor depth:           -578.183729
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 115.615634 meters
#   Minimum depth: 575.975357 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.401159 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.975357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169982;
longitude = 120.352270;
duration = 462;
initialDepth = 528.748396;
finalDepth = 525.975357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2083719999999
#   Actual altitude:          52.2083719999999
#   Commanded vehicle depth:  525.975357 
#   Seafloor depth:           -576.030924
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.115724 meters
#   Minimum depth: 578.748396 meters looking forward 200.000000 meters along route
#   Maximum depth: 584.773960 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 528.748396 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169093;
longitude = 120.351686;
duration = 472;
initialDepth = 534.397115;
finalDepth = 528.748396;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.821094
#   Actual altitude:          51.821094
#   Commanded vehicle depth:  528.748396 
#   Seafloor depth:           -580.569490
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 126.168178 meters
#   Minimum depth: 584.397115 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.610995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.397115 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168183;
longitude = 120.351090;
duration = 504;
initialDepth = 544.500470;
finalDepth = 534.397115;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.250985
#   Actual altitude:          55.250985
#   Commanded vehicle depth:  534.397115 
#   Seafloor depth:           -589.648100
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 110.063683 meters
#   Minimum depth: 594.500470 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.318592 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.500470 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167212;
longitude = 120.350452;
duration = 440;
initialDepth = 551.832941;
finalDepth = 544.500470;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.250985
#   Actual altitude:          55.250985
#   Commanded vehicle depth:  544.50047 
#   Seafloor depth:           -599.020607
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.116136 meters
#   Minimum depth: 601.832941 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.994914 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 551.832941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166365;
longitude = 120.349896;
duration = 472;
initialDepth = 554.288621;
finalDepth = 551.832941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5201370000001
#   Actual altitude:          54.5201370000001
#   Commanded vehicle depth:  551.832941 
#   Seafloor depth:           -603.988654
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 131.720990 meters
#   Minimum depth: 604.288621 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.321709 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 554.288621 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.349299;
duration = 526;
initialDepth = 549.742181;
finalDepth = 554.288621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.155713
#   Actual altitude:          52.155713
#   Commanded vehicle depth:  554.288621 
#   Seafloor depth:           -605.321709
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 104.511693 meters
#   Minimum depth: 599.742181 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.318704 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 549.742181 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164442;
longitude = 120.348634;
duration = 418;
initialDepth = 544.798286;
finalDepth = 549.742181;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.1354120000001
#   Actual altitude:          54.1354120000001
#   Commanded vehicle depth:  549.742181 
#   Seafloor depth:           -603.877593
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.116547 meters
#   Minimum depth: 594.798286 meters looking forward 200.000000 meters along route
#   Maximum depth: 601.831713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.798286 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163638;
longitude = 120.348106;
duration = 472;
initialDepth = 539.295000;
finalDepth = 544.798286;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.1705450000001
#   Actual altitude:          54.1705450000001
#   Commanded vehicle depth:  544.798286 
#   Seafloor depth:           -598.968831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.116685 meters
#   Minimum depth: 589.295000 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.618286 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.295000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162729;
longitude = 120.347509;
duration = 472;
initialDepth = 530.695324;
finalDepth = 539.295000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.1705450000001
#   Actual altitude:          54.1705450000001
#   Commanded vehicle depth:  539.295 
#   Seafloor depth:           -592.530211
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.116822 meters
#   Minimum depth: 580.695324 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.017835 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 530.695324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161820;
longitude = 120.346913;
duration = 472;
initialDepth = 524.996927;
finalDepth = 530.695324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.321902
#   Actual altitude:          55.321902
#   Commanded vehicle depth:  530.695324 
#   Seafloor depth:           -586.017226
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.116959 meters
#   Minimum depth: 574.996927 meters looking forward 200.000000 meters along route
#   Maximum depth: 583.225108 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 524.996927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160911;
longitude = 120.346316;
duration = 472;
initialDepth = 519.850635;
finalDepth = 524.996927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.321902
#   Actual altitude:          55.321902
#   Commanded vehicle depth:  524.996927 
#   Seafloor depth:           -580.173257
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.117096 meters
#   Minimum depth: 569.850635 meters looking forward 200.000000 meters along route
#   Maximum depth: 576.326925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.850635 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160002;
longitude = 120.345719;
duration = 472;
initialDepth = 513.920558;
finalDepth = 519.850635;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.17633
#   Actual altitude:          55.17633
#   Commanded vehicle depth:  519.850635 
#   Seafloor depth:           -572.667615
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.117233 meters
#   Minimum depth: 563.920558 meters looking forward 200.000000 meters along route
#   Maximum depth: 570.158208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.920558 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159093;
longitude = 120.345122;
duration = 472;
initialDepth = 513.040214;
finalDepth = 513.920558;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.421296
#   Actual altitude:          53.421296
#   Commanded vehicle depth:  513.920558 
#   Seafloor depth:           -567.341854
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.117371 meters
#   Minimum depth: 563.040214 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.008136 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.040214 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158183;
longitude = 120.344526;
duration = 472;
initialDepth = 513.040214;
finalDepth = 513.040214;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.421296
#   Actual altitude:          53.421296
#   Commanded vehicle depth:  513.040214 
#   Seafloor depth:           -563.860057
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.117507 meters
#   Minimum depth: 563.040214 meters looking forward 200.000000 meters along route
#   Maximum depth: 564.476713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.040214 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157274;
longitude = 120.343929;
duration = 472;
initialDepth = 514.461941;
finalDepth = 513.040214;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.819843
#   Actual altitude:          50.819843
#   Commanded vehicle depth:  513.040214 
#   Seafloor depth:           -563.271887
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 120.238513 meters
#   Minimum depth: 564.461941 meters looking forward 200.000000 meters along route
#   Maximum depth: 573.424532 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.461941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156365;
longitude = 120.343332;
duration = 480;
initialDepth = 519.432078;
finalDepth = 514.461941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.033648
#   Actual altitude:          52.033648
#   Commanded vehicle depth:  514.461941 
#   Seafloor depth:           -566.495589
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 115.996914 meters
#   Minimum depth: 569.432078 meters looking forward 200.000000 meters along route
#   Maximum depth: 581.529392 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.432078 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155440;
longitude = 120.342725;
duration = 463;
initialDepth = 528.582659;
finalDepth = 519.432078;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.153069
#   Actual altitude:          54.153069
#   Commanded vehicle depth:  519.432078 
#   Seafloor depth:           -573.585147
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 118.117920 meters
#   Minimum depth: 578.582659 meters looking forward 200.000000 meters along route
#   Maximum depth: 589.819419 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 528.582659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154547;
longitude = 120.342139;
duration = 472;
initialDepth = 539.378538;
finalDepth = 528.582659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.30837
#   Actual altitude:          55.30837
#   Commanded vehicle depth:  528.582659 
#   Seafloor depth:           -583.891029
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 125.791389 meters
#   Minimum depth: 589.378538 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.906755 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.378538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.153638;
longitude = 120.341542;
duration = 503;
initialDepth = 552.204764;
finalDepth = 539.378538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4095659999999
#   Actual altitude:          55.4095659999999
#   Commanded vehicle depth:  539.378538 
#   Seafloor depth:           -594.788104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 110.444861 meters
#   Minimum depth: 602.204764 meters looking forward 200.000000 meters along route
#   Maximum depth: 620.588135 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.204764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.152670;
longitude = 120.340907;
duration = 441;
initialDepth = 568.098469;
finalDepth = 552.204764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.4084790000001
#   Actual altitude:          61.4084790000001
#   Commanded vehicle depth:  552.204764 
#   Seafloor depth:           -613.613243
# 
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 31
#   Segment length 118.118330 meters
#   Minimum depth: 618.098469 meters looking forward 200.000000 meters along route
#   Maximum depth: 626.624496 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 568.098469 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.151820;
longitude = 120.340349;
duration = 472;
initialDepth = 575.696957;
finalDepth = 568.098469;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.4084790000001
#   Actual altitude:          61.4084790000001
#   Commanded vehicle depth:  568.098469 
#   Seafloor depth:           -621.863187
# 
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 31
#   Segment length 136.972237 meters
#   Minimum depth: 625.696957 meters looking forward 200.000000 meters along route
#   Maximum depth: 647.511252 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 575.696957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.150911;
longitude = 120.339752;
duration = 547;
initialDepth = 589.909891;
finalDepth = 575.696957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.8681330000001
#   Actual altitude:          55.8681330000001
#   Commanded vehicle depth:  575.696957 
#   Seafloor depth:           -631.565090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.93;
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 150.000000 meters
#   Minimum depth: 639.909891 meters looking forward 200.000000 meters along route
#   Maximum depth: 649.260712 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 589.909891 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.149857;
longitude = 120.339060;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 579.869231;
finalDepth = 589.909891;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       59.350821
#   Actual altitude:          59.350821
#   Commanded vehicle depth:  589.909891 
#   Seafloor depth:           -649.260712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.68;
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 29
#   Segment length 104.344204 meters
#   Minimum depth: 629.869231 meters looking forward 200.000000 meters along route
#   Maximum depth: 641.104230 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 579.869231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.150562;
longitude = 120.337821;
duration = 417;
# abortOnTimeout    = True; 
initialDepth = 568.129489;
finalDepth = 579.869231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.350821
#   Actual altitude:          59.350821
#   Commanded vehicle depth:  579.869231 
#   Seafloor depth:           -636.610687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.117706 meters
#   Minimum depth: 618.129489 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.180584 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 568.129489 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.151365;
longitude = 120.338348;
duration = 472;
initialDepth = 546.465067;
finalDepth = 568.129489;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.3981699999999
#   Actual altitude:          57.3981699999999
#   Commanded vehicle depth:  568.129489 
#   Seafloor depth:           -625.527659
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.493102 meters
#   Minimum depth: 596.465067 meters looking forward 200.000000 meters along route
#   Maximum depth: 618.414893 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.465067 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.152274;
longitude = 120.338944;
duration = 473;
initialDepth = 533.438960;
finalDepth = 546.465067;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.1056620000001
#   Actual altitude:          65.1056620000001
#   Commanded vehicle depth:  546.465067 
#   Seafloor depth:           -611.570729
# 
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 29
#   Segment length 117.741897 meters
#   Minimum depth: 583.438960 meters looking forward 200.000000 meters along route
#   Maximum depth: 606.502322 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.438960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.153186;
longitude = 120.339543;
duration = 470;
initialDepth = 522.932590;
finalDepth = 533.438960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.1056620000001
#   Actual altitude:          65.1056620000001
#   Commanded vehicle depth:  533.43896 
#   Seafloor depth:           -596.408685
# 
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 29
#   Segment length 118.117294 meters
#   Minimum depth: 572.932590 meters looking forward 200.000000 meters along route
#   Maximum depth: 587.443257 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.932590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154093;
longitude = 120.340138;
duration = 472;
initialDepth = 506.257622;
finalDepth = 522.932590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.969725
#   Actual altitude:          62.969725
#   Commanded vehicle depth:  522.93259 
#   Seafloor depth:           -580.156769
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 124.049352 meters
#   Minimum depth: 556.257622 meters looking forward 200.000000 meters along route
#   Maximum depth: 573.294133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 506.257622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155002;
longitude = 120.340735;
duration = 496;
initialDepth = 497.658224;
finalDepth = 506.257622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.731488
#   Actual altitude:          60.731488
#   Commanded vehicle depth:  506.257622 
#   Seafloor depth:           -566.989110
# 
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 29
#   Segment length 112.184824 meters
#   Minimum depth: 547.658224 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.321687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 497.658224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155956;
longitude = 120.341361;
duration = 448;
initialDepth = 491.954450;
finalDepth = 497.658224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.731488
#   Actual altitude:          60.731488
#   Commanded vehicle depth:  497.658224 
#   Seafloor depth:           -555.753400
# 
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 29
#   Segment length 118.116882 meters
#   Minimum depth: 541.954450 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.952471 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 491.954450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156820;
longitude = 120.341928;
duration = 472;
initialDepth = 489.930145;
finalDepth = 491.954450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.095176
#   Actual altitude:          58.095176
#   Commanded vehicle depth:  491.95445 
#   Seafloor depth:           -545.928452
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 129.605564 meters
#   Minimum depth: 539.930145 meters looking forward 200.000000 meters along route
#   Maximum depth: 542.283019 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.930145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157729;
longitude = 120.342525;
duration = 518;
initialDepth = 489.930145;
finalDepth = 489.930145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.974002
#   Actual altitude:          53.974002
#   Commanded vehicle depth:  489.930145 
#   Seafloor depth:           -540.899989
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 106.627789 meters
#   Minimum depth: 539.930145 meters looking forward 200.000000 meters along route
#   Maximum depth: 544.614890 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.930145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158726;
longitude = 120.343179;
duration = 426;
initialDepth = 491.937114;
finalDepth = 489.930145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.969844
#   Actual altitude:          50.969844
#   Commanded vehicle depth:  489.930145 
#   Seafloor depth:           -540.274398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.116471 meters
#   Minimum depth: 541.937114 meters looking forward 200.000000 meters along route
#   Maximum depth: 551.078391 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 491.937114 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159547;
longitude = 120.343718;
duration = 472;
initialDepth = 499.963842;
finalDepth = 491.937114;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.747369
#   Actual altitude:          53.747369
#   Commanded vehicle depth:  491.937114 
#   Seafloor depth:           -545.684483
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 135.161735 meters
#   Minimum depth: 549.963842 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.232647 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 499.963842 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160456;
longitude = 120.344315;
duration = 540;
initialDepth = 507.405065;
finalDepth = 499.963842;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.067729
#   Actual altitude:          54.067729
#   Commanded vehicle depth:  499.963842 
#   Seafloor depth:           -554.031571
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.070795 meters
#   Minimum depth: 557.405065 meters looking forward 200.000000 meters along route
#   Maximum depth: 572.112493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.405065 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161496;
longitude = 120.344998;
duration = 404;
initialDepth = 518.168240;
finalDepth = 507.405065;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.280935
#   Actual altitude:          57.280935
#   Commanded vehicle depth:  507.405065 
#   Seafloor depth:           -564.686000
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.116059 meters
#   Minimum depth: 568.168240 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.535717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 518.168240 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162274;
longitude = 120.345508;
duration = 472;
initialDepth = 527.817753;
finalDepth = 518.168240;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.280935
#   Actual altitude:          57.280935
#   Commanded vehicle depth:  518.16824 
#   Seafloor depth:           -572.950659
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.115922 meters
#   Minimum depth: 577.817753 meters looking forward 200.000000 meters along route
#   Maximum depth: 587.090738 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.817753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163183;
longitude = 120.346105;
duration = 472;
initialDepth = 536.491098;
finalDepth = 527.817753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.858396
#   Actual altitude:          54.858396
#   Commanded vehicle depth:  527.817753 
#   Seafloor depth:           -582.676149
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.115784 meters
#   Minimum depth: 586.491098 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.914303 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 536.491098 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164093;
longitude = 120.346702;
duration = 472;
initialDepth = 546.017148;
finalDepth = 536.491098;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.903272
#   Actual altitude:          54.903272
#   Commanded vehicle depth:  536.491098 
#   Seafloor depth:           -591.394370
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.115648 meters
#   Minimum depth: 596.017148 meters looking forward 200.000000 meters along route
#   Maximum depth: 601.674978 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.017148 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165002;
longitude = 120.347298;
duration = 472;
initialDepth = 551.361393;
finalDepth = 546.017148;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.903272
#   Actual altitude:          54.903272
#   Commanded vehicle depth:  546.017148 
#   Seafloor depth:           -599.185447
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.115510 meters
#   Minimum depth: 601.361393 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.097161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 551.361393 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165911;
longitude = 120.347895;
duration = 472;
initialDepth = 546.372190;
finalDepth = 551.361393;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1682989999999
#   Actual altitude:          53.1682989999999
#   Commanded vehicle depth:  551.361393 
#   Seafloor depth:           -601.895320
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.134116 meters
#   Minimum depth: 596.372190 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.097161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.372190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166820;
longitude = 120.348492;
duration = 472;
initialDepth = 536.456758;
finalDepth = 546.372190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.6103899999999
#   Actual altitude:          55.6103899999999
#   Commanded vehicle depth:  546.37219 
#   Seafloor depth:           -601.982580
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.096493 meters
#   Minimum depth: 586.456758 meters looking forward 200.000000 meters along route
#   Maximum depth: 600.257411 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 536.456758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167729;
longitude = 120.349089;
duration = 472;
initialDepth = 524.377840;
finalDepth = 536.456758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.9137029999999
#   Actual altitude:          59.9137029999999
#   Commanded vehicle depth:  536.456758 
#   Seafloor depth:           -596.370461
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.115099 meters
#   Minimum depth: 574.377840 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.372165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 524.377840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168638;
longitude = 120.349685;
duration = 472;
initialDepth = 507.402559;
finalDepth = 524.377840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.9137029999999
#   Actual altitude:          59.9137029999999
#   Commanded vehicle depth:  524.37784 
#   Seafloor depth:           -582.945697
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 123.690264 meters
#   Minimum depth: 557.402559 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.753862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.402559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169547;
longitude = 120.350282;
duration = 494;
initialDepth = 507.402559;
finalDepth = 507.402559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.0465820000001
#   Actual altitude:          60.0465820000001
#   Commanded vehicle depth:  507.402559 
#   Seafloor depth:           -567.449141
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 112.539522 meters
#   Minimum depth: 557.402559 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.746288 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.402559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170499;
longitude = 120.350907;
duration = 450;
initialDepth = 508.915443;
finalDepth = 507.402559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.0465820000001
#   Actual altitude:          60.0465820000001
#   Commanded vehicle depth:  507.402559 
#   Seafloor depth:           -557.441893
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.114687 meters
#   Minimum depth: 558.915443 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.320351 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.915443 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171365;
longitude = 120.351475;
duration = 472;
initialDepth = 489.795843;
finalDepth = 508.915443;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.404908
#   Actual altitude:          51.404908
#   Commanded vehicle depth:  508.915443 
#   Seafloor depth:           -560.320351
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 129.246373 meters
#   Minimum depth: 539.795843 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.788182 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.795843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172274;
longitude = 120.352072;
duration = 516;
initialDepth = 477.206715;
finalDepth = 489.795843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.4302300000001
#   Actual altitude:          66.4302300000001
#   Commanded vehicle depth:  489.795843 
#   Seafloor depth:           -556.226073
# 
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 29
#   Segment length 106.982590 meters
#   Minimum depth: 527.206715 meters looking forward 200.000000 meters along route
#   Maximum depth: 551.637017 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.206715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173269;
longitude = 120.352725;
duration = 427;
initialDepth = 472.267635;
finalDepth = 477.206715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.4302300000001
#   Actual altitude:          66.4302300000001
#   Commanded vehicle depth:  477.206715 
#   Seafloor depth:           -538.162713
# 
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 29
#   Segment length 118.114276 meters
#   Minimum depth: 522.267635 meters looking forward 200.000000 meters along route
#   Maximum depth: 531.427928 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 472.267635 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174093;
longitude = 120.353265;
duration = 472;
initialDepth = 466.782423;
finalDepth = 472.267635;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.955998
#   Actual altitude:          60.955998
#   Commanded vehicle depth:  472.267635 
#   Seafloor depth:           -525.681813
# 
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 29
#   Segment length 134.802443 meters
#   Minimum depth: 516.782423 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.583510 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.782423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175002;
longitude = 120.353862;
duration = 539;
initialDepth = 457.646672;
finalDepth = 466.782423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.659893
#   Actual altitude:          54.659893
#   Commanded vehicle depth:  466.782423 
#   Seafloor depth:           -521.442316
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.425697 meters
#   Minimum depth: 507.646672 meters looking forward 200.000000 meters along route
#   Maximum depth: 520.052474 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 457.646672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176039;
longitude = 120.354543;
duration = 405;
initialDepth = 452.980593;
finalDepth = 457.646672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.914604
#   Actual altitude:          57.914604
#   Commanded vehicle depth:  457.646672 
#   Seafloor depth:           -515.561276
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.113865 meters
#   Minimum depth: 502.980593 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.166437 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 452.980593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176820;
longitude = 120.355055;
duration = 472;
initialDepth = 452.980593;
finalDepth = 452.980593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.914604
#   Actual altitude:          57.914604
#   Commanded vehicle depth:  452.980593 
#   Seafloor depth:           -506.787994
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.113727 meters
#   Minimum depth: 502.980593 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.670577 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 452.980593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177729;
longitude = 120.355652;
duration = 472;
initialDepth = 449.647325;
finalDepth = 452.980593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.807401
#   Actual altitude:          53.807401
#   Commanded vehicle depth:  452.980593 
#   Seafloor depth:           -503.095649
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.113590 meters
#   Minimum depth: 499.647325 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.670577 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.647325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178638;
longitude = 120.356249;
duration = 472;
initialDepth = 446.941572;
finalDepth = 449.647325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.997466
#   Actual altitude:          54.997466
#   Commanded vehicle depth:  449.647325 
#   Seafloor depth:           -504.644791
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.113453 meters
#   Minimum depth: 496.941572 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.181168 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.941572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179547;
longitude = 120.356846;
duration = 472;
initialDepth = 446.107184;
finalDepth = 446.941572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.997466
#   Actual altitude:          54.997466
#   Commanded vehicle depth:  446.941572 
#   Seafloor depth:           -499.376302
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.113315 meters
#   Minimum depth: 496.107184 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.345384 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.107184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180456;
longitude = 120.357442;
duration = 472;
initialDepth = 446.107184;
finalDepth = 446.107184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.43473
#   Actual altitude:          52.43473
#   Commanded vehicle depth:  446.107184 
#   Seafloor depth:           -496.610141
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.113179 meters
#   Minimum depth: 496.107184 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.004877 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.107184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181365;
longitude = 120.358039;
duration = 472;
initialDepth = 447.622546;
finalDepth = 446.107184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.502957
#   Actual altitude:          50.502957
#   Commanded vehicle depth:  446.107184 
#   Seafloor depth:           -496.501536
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.113041 meters
#   Minimum depth: 497.622546 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.349773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 447.622546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182274;
longitude = 120.358636;
duration = 472;
initialDepth = 450.086962;
finalDepth = 447.622546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.391668
#   Actual altitude:          51.391668
#   Commanded vehicle depth:  447.622546 
#   Seafloor depth:           -499.014214
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.112905 meters
#   Minimum depth: 500.086962 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.643141 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.086962 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183183;
longitude = 120.359232;
duration = 472;
initialDepth = 448.065674;
finalDepth = 450.086962;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.391668
#   Actual altitude:          51.391668
#   Commanded vehicle depth:  450.086962 
#   Seafloor depth:           -500.643141
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 123.331189 meters
#   Minimum depth: 498.065674 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.401325 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 448.065674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184093;
longitude = 120.359829;
duration = 493;
initialDepth = 446.728912;
finalDepth = 448.065674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.653966
#   Actual altitude:          51.653966
#   Commanded vehicle depth:  448.065674 
#   Seafloor depth:           -499.719640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 112.894208 meters
#   Minimum depth: 496.728912 meters looking forward 200.000000 meters along route
#   Maximum depth: 498.771257 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.728912 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185042;
longitude = 120.360452;
duration = 451;
initialDepth = 445.184956;
finalDepth = 446.728912;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.653966
#   Actual altitude:          51.653966
#   Commanded vehicle depth:  446.728912 
#   Seafloor depth:           -498.022332
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.112493 meters
#   Minimum depth: 495.184956 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.198593 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 445.184956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185911;
longitude = 120.361022;
duration = 472;
initialDepth = 443.495607;
finalDepth = 445.184956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.29342
#   Actual altitude:          51.29342
#   Commanded vehicle depth:  445.184956 
#   Seafloor depth:           -496.311459
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 128.887196 meters
#   Minimum depth: 493.495607 meters looking forward 200.000000 meters along route
#   Maximum depth: 495.332287 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 443.495607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186820;
longitude = 120.361619;
duration = 515;
initialDepth = 441.722440;
finalDepth = 443.495607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.126503
#   Actual altitude:          51.126503
#   Commanded vehicle depth:  443.495607 
#   Seafloor depth:           -493.842458
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.337378 meters
#   Minimum depth: 491.722440 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.765360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 441.722440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187812;
longitude = 120.362270;
duration = 429;
initialDepth = 436.320661;
finalDepth = 441.722440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.876587
#   Actual altitude:          51.876587
#   Commanded vehicle depth:  441.72244 
#   Seafloor depth:           -493.599027
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.112082 meters
#   Minimum depth: 486.320661 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.466714 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 436.320661 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188638;
longitude = 120.362813;
duration = 472;
initialDepth = 426.975997;
finalDepth = 436.320661;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.715423
#   Actual altitude:          54.715423
#   Commanded vehicle depth:  436.320661 
#   Seafloor depth:           -491.036084
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 134.443165 meters
#   Minimum depth: 476.975997 meters looking forward 200.000000 meters along route
#   Maximum depth: 487.267811 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 426.975997 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189547;
longitude = 120.363409;
duration = 537;
initialDepth = 422.683967;
finalDepth = 426.975997;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.468115
#   Actual altitude:          56.468115
#   Commanded vehicle depth:  426.975997 
#   Seafloor depth:           -483.444112
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.780586 meters
#   Minimum depth: 472.683967 meters looking forward 200.000000 meters along route
#   Maximum depth: 480.470984 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.683967 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190582;
longitude = 120.364089;
duration = 407;
initialDepth = 418.120242;
finalDepth = 422.683967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.468115
#   Actual altitude:          56.468115
#   Commanded vehicle depth:  422.683967 
#   Seafloor depth:           -476.219368
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.111670 meters
#   Minimum depth: 468.120242 meters looking forward 200.000000 meters along route
#   Maximum depth: 474.795011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 418.120242 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191365;
longitude = 120.364603;
duration = 472;
initialDepth = 412.048781;
finalDepth = 418.120242;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.126483
#   Actual altitude:          54.126483
#   Commanded vehicle depth:  418.120242 
#   Seafloor depth:           -472.246725
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.111534 meters
#   Minimum depth: 462.048781 meters looking forward 200.000000 meters along route
#   Maximum depth: 469.710933 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 412.048781 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192274;
longitude = 120.365199;
duration = 472;
initialDepth = 405.584882;
finalDepth = 412.048781;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.126483
#   Actual altitude:          54.126483
#   Commanded vehicle depth:  412.048781 
#   Seafloor depth:           -464.451210
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.111396 meters
#   Minimum depth: 455.584882 meters looking forward 200.000000 meters along route
#   Maximum depth: 462.441808 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 405.584882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193183;
longitude = 120.365796;
duration = 472;
initialDepth = 403.207781;
finalDepth = 405.584882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.15698
#   Actual altitude:          54.15698
#   Commanded vehicle depth:  405.584882 
#   Seafloor depth:           -459.741862
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.111258 meters
#   Minimum depth: 453.207781 meters looking forward 200.000000 meters along route
#   Maximum depth: 457.476413 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 403.207781 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194092;
longitude = 120.366393;
duration = 472;
initialDepth = 401.355363;
finalDepth = 403.207781;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.15698
#   Actual altitude:          54.15698
#   Commanded vehicle depth:  403.207781 
#   Seafloor depth:           -455.411555
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.111122 meters
#   Minimum depth: 451.355363 meters looking forward 200.000000 meters along route
#   Maximum depth: 453.802588 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 401.355363 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195002;
longitude = 120.366990;
duration = 472;
initialDepth = 395.466397;
finalDepth = 401.355363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.203774
#   Actual altitude:          52.203774
#   Commanded vehicle depth:  401.355363 
#   Seafloor depth:           -452.564319
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.110985 meters
#   Minimum depth: 445.466397 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.420348 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 395.466397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195911;
longitude = 120.367586;
duration = 472;
initialDepth = 390.967995;
finalDepth = 395.466397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.435995
#   Actual altitude:          54.435995
#   Commanded vehicle depth:  395.466397 
#   Seafloor depth:           -449.902392
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.110847 meters
#   Minimum depth: 440.967995 meters looking forward 200.000000 meters along route
#   Maximum depth: 447.847527 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.967995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196820;
longitude = 120.368183;
duration = 472;
initialDepth = 384.047239;
finalDepth = 390.967995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.46835
#   Actual altitude:          54.46835
#   Commanded vehicle depth:  390.967995 
#   Seafloor depth:           -445.436345
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 118.110711 meters
#   Minimum depth: 434.047239 meters looking forward 200.000000 meters along route
#   Maximum depth: 442.817595 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 384.047239 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197729;
longitude = 120.368780;
duration = 472;
initialDepth = 379.590659;
finalDepth = 384.047239;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.974427
#   Actual altitude:          54.974427
#   Commanded vehicle depth:  384.047239 
#   Seafloor depth:           -439.021666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 112.073209 meters
#   Minimum depth: 429.590659 meters looking forward 200.000000 meters along route
#   Maximum depth: 434.110659 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 379.590659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198638;
longitude = 120.369376;
duration = 448;
initialDepth = 374.928659;
finalDepth = 379.590659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.974427
#   Actual altitude:          54.974427
#   Commanded vehicle depth:  379.590659 
#   Seafloor depth:           -432.089896
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.49;
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 28
#   Segment length 150.000000 meters
#   Minimum depth: 424.928659 meters looking forward 200.000000 meters along route
#   Maximum depth: 428.276917 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 374.928659 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199501;
longitude = 120.369943;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 374.316666;
finalDepth = 374.928659;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       53.348258
#   Actual altitude:          53.348258
#   Commanded vehicle depth:  374.928659 
#   Seafloor depth:           -428.276917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.67;
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 27
#   Segment length 103.612911 meters
#   Minimum depth: 424.316666 meters looking forward 200.000000 meters along route
#   Maximum depth: 427.328775 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 374.316666 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200206;
longitude = 120.368703;
duration = 414;
# abortOnTimeout    = True; 
initialDepth = 374.986392;
finalDepth = 374.316666;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.348258
#   Actual altitude:          53.348258
#   Commanded vehicle depth:  374.316666 
#   Seafloor depth:           -424.316666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.174510 meters
#   Minimum depth: 424.986392 meters looking forward 200.000000 meters along route
#   Maximum depth: 430.231719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 374.986392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199409;
longitude = 120.368179;
duration = 400;
initialDepth = 378.823873;
finalDepth = 374.986392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.827172
#   Actual altitude:          52.827172
#   Commanded vehicle depth:  374.986392 
#   Seafloor depth:           -427.813564
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.110152 meters
#   Minimum depth: 428.823873 meters looking forward 200.000000 meters along route
#   Maximum depth: 434.036886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 378.823873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198638;
longitude = 120.367673;
duration = 472;
initialDepth = 382.627959;
finalDepth = 378.823873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.827172
#   Actual altitude:          52.827172
#   Commanded vehicle depth:  378.823873 
#   Seafloor depth:           -430.555162
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.110290 meters
#   Minimum depth: 432.627959 meters looking forward 200.000000 meters along route
#   Maximum depth: 439.306417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.627959 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197729;
longitude = 120.367077;
duration = 472;
initialDepth = 388.960264;
finalDepth = 382.627959;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.97681
#   Actual altitude:          53.97681
#   Commanded vehicle depth:  382.627959 
#   Seafloor depth:           -436.604769
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.110426 meters
#   Minimum depth: 438.960264 meters looking forward 200.000000 meters along route
#   Maximum depth: 445.106965 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 388.960264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196820;
longitude = 120.366480;
duration = 472;
initialDepth = 393.579866;
finalDepth = 388.960264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.97681
#   Actual altitude:          53.97681
#   Commanded vehicle depth:  388.960264 
#   Seafloor depth:           -441.569806
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.110564 meters
#   Minimum depth: 443.579866 meters looking forward 200.000000 meters along route
#   Maximum depth: 447.726520 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 393.579866 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195911;
longitude = 120.365883;
duration = 472;
initialDepth = 396.882354;
finalDepth = 393.579866;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.609542
#   Actual altitude:          52.609542
#   Commanded vehicle depth:  393.579866 
#   Seafloor depth:           -445.241925
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.110701 meters
#   Minimum depth: 446.882354 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.592368 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 396.882354 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195002;
longitude = 120.365287;
duration = 472;
initialDepth = 401.498291;
finalDepth = 396.882354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.040782
#   Actual altitude:          52.040782
#   Commanded vehicle depth:  396.882354 
#   Seafloor depth:           -448.923136
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 119.030175 meters
#   Minimum depth: 451.498291 meters looking forward 200.000000 meters along route
#   Maximum depth: 459.633188 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 401.498291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194092;
longitude = 120.364690;
duration = 476;
initialDepth = 407.345951;
finalDepth = 401.498291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.116137
#   Actual altitude:          53.116137
#   Commanded vehicle depth:  401.498291 
#   Seafloor depth:           -454.614428
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 117.191639 meters
#   Minimum depth: 457.345951 meters looking forward 200.000000 meters along route
#   Maximum depth: 462.883289 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 407.345951 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193176;
longitude = 120.364089;
duration = 468;
initialDepth = 411.727584;
finalDepth = 407.345951;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.116137
#   Actual altitude:          53.116137
#   Commanded vehicle depth:  407.345951 
#   Seafloor depth:           -459.662251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.111112 meters
#   Minimum depth: 461.727584 meters looking forward 200.000000 meters along route
#   Maximum depth: 469.923011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 411.727584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192274;
longitude = 120.363496;
duration = 472;
initialDepth = 419.648581;
finalDepth = 411.727584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.336245
#   Actual altitude:          52.336245
#   Commanded vehicle depth:  411.727584 
#   Seafloor depth:           -464.063829
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 124.591237 meters
#   Minimum depth: 469.648581 meters looking forward 200.000000 meters along route
#   Maximum depth: 484.013725 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 419.648581 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191365;
longitude = 120.362900;
duration = 498;
initialDepth = 429.599978;
finalDepth = 419.648581;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.094952
#   Actual altitude:          55.094952
#   Commanded vehicle depth:  419.648581 
#   Seafloor depth:           -474.743533
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 111.631400 meters
#   Minimum depth: 479.599978 meters looking forward 200.000000 meters along route
#   Maximum depth: 490.243393 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 429.599978 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190406;
longitude = 120.362270;
duration = 446;
initialDepth = 437.940517;
finalDepth = 429.599978;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.094952
#   Actual altitude:          55.094952
#   Commanded vehicle depth:  429.599978 
#   Seafloor depth:           -484.448135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.111523 meters
#   Minimum depth: 487.940517 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.831705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 437.940517 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189547;
longitude = 120.361706;
duration = 472;
initialDepth = 444.508192;
finalDepth = 437.940517;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.848157
#   Actual altitude:          54.848157
#   Commanded vehicle depth:  437.940517 
#   Seafloor depth:           -491.579041
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 130.152338 meters
#   Minimum depth: 494.508192 meters looking forward 200.000000 meters along route
#   Maximum depth: 496.444544 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 444.508192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188638;
longitude = 120.361110;
duration = 520;
initialDepth = 444.810156;
finalDepth = 444.508192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.638524
#   Actual altitude:          53.638524
#   Commanded vehicle depth:  444.508192 
#   Seafloor depth:           -495.915241
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.071122 meters
#   Minimum depth: 494.810156 meters looking forward 200.000000 meters along route
#   Maximum depth: 496.444544 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 444.810156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187636;
longitude = 120.360452;
duration = 424;
initialDepth = 442.994862;
finalDepth = 444.810156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.407049
#   Actual altitude:          51.407049
#   Commanded vehicle depth:  444.810156 
#   Seafloor depth:           -496.199110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.111935 meters
#   Minimum depth: 492.994862 meters looking forward 200.000000 meters along route
#   Maximum depth: 495.549732 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 442.994862 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186820;
longitude = 120.359916;
duration = 472;
initialDepth = 442.009527;
finalDepth = 442.994862;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.503016
#   Actual altitude:          51.503016
#   Commanded vehicle depth:  442.994862 
#   Seafloor depth:           -494.497878
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 135.713478 meters
#   Minimum depth: 492.009527 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.148436 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 442.009527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185911;
longitude = 120.359320;
duration = 542;
initialDepth = 442.009527;
finalDepth = 442.009527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.503016
#   Actual altitude:          51.503016
#   Commanded vehicle depth:  442.009527 
#   Seafloor depth:           -492.645085
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.510804 meters
#   Minimum depth: 492.009527 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.541353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 442.009527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184866;
longitude = 120.358634;
duration = 402;
initialDepth = 442.145979;
finalDepth = 442.009527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.635558
#   Actual altitude:          50.635558
#   Commanded vehicle depth:  442.009527 
#   Seafloor depth:           -492.012068
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.112347 meters
#   Minimum depth: 492.145979 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.517653 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 442.145979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184093;
longitude = 120.358126;
duration = 472;
initialDepth = 444.113522;
finalDepth = 442.145979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.61367
#   Actual altitude:          50.61367
#   Commanded vehicle depth:  442.145979 
#   Seafloor depth:           -492.759649
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.112484 meters
#   Minimum depth: 494.113522 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.298010 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 444.113522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183183;
longitude = 120.357529;
duration = 472;
initialDepth = 447.054644;
finalDepth = 444.113522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.790947
#   Actual altitude:          51.790947
#   Commanded vehicle depth:  444.113522 
#   Seafloor depth:           -495.904469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.112621 meters
#   Minimum depth: 497.054644 meters looking forward 200.000000 meters along route
#   Maximum depth: 498.083774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 447.054644 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182274;
longitude = 120.356933;
duration = 472;
initialDepth = 446.836087;
finalDepth = 447.054644;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.790947
#   Actual altitude:          51.790947
#   Commanded vehicle depth:  447.054644 
#   Seafloor depth:           -497.977937
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.112758 meters
#   Minimum depth: 496.836087 meters looking forward 200.000000 meters along route
#   Maximum depth: 498.083774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.836087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181365;
longitude = 120.356336;
duration = 472;
initialDepth = 446.350740;
finalDepth = 446.836087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.212231
#   Actual altitude:          51.212231
#   Commanded vehicle depth:  446.836087 
#   Seafloor depth:           -498.048318
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.112896 meters
#   Minimum depth: 496.350740 meters looking forward 200.000000 meters along route
#   Maximum depth: 496.882603 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.350740 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180456;
longitude = 120.355739;
duration = 472;
initialDepth = 446.350740;
finalDepth = 446.350740;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.212231
#   Actual altitude:          51.212231
#   Commanded vehicle depth:  446.35074 
#   Seafloor depth:           -496.502011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.697950 meters
#   Minimum depth: 496.350740 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.147740 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.350740 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179547;
longitude = 120.355143;
duration = 474;
initialDepth = 446.865278;
finalDepth = 446.350740;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.581359
#   Actual altitude:          50.581359
#   Commanded vehicle depth:  446.35074 
#   Seafloor depth:           -496.932099
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 117.528252 meters
#   Minimum depth: 496.865278 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.409504 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.865278 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178633;
longitude = 120.354543;
duration = 470;
initialDepth = 448.019989;
finalDepth = 446.865278;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.581359
#   Actual altitude:          50.581359
#   Commanded vehicle depth:  446.865278 
#   Seafloor depth:           -496.866760
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.113307 meters
#   Minimum depth: 498.019989 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.682878 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 448.019989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177729;
longitude = 120.353949;
duration = 472;
initialDepth = 456.305844;
finalDepth = 448.019989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.878265
#   Actual altitude:          52.878265
#   Commanded vehicle depth:  448.019989 
#   Seafloor depth:           -500.898254
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 124.259115 meters
#   Minimum depth: 506.305844 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.815763 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 456.305844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176820;
longitude = 120.353353;
duration = 497;
initialDepth = 466.513597;
finalDepth = 456.305844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.027592
#   Actual altitude:          56.027592
#   Commanded vehicle depth:  456.305844 
#   Seafloor depth:           -512.333436
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 111.967911 meters
#   Minimum depth: 516.513597 meters looking forward 200.000000 meters along route
#   Maximum depth: 521.201522 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.513597 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175863;
longitude = 120.352725;
duration = 447;
initialDepth = 470.178334;
finalDepth = 466.513597;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.027592
#   Actual altitude:          56.027592
#   Commanded vehicle depth:  466.513597 
#   Seafloor depth:           -518.934228
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.113718 meters
#   Minimum depth: 520.178334 meters looking forward 200.000000 meters along route
#   Maximum depth: 526.482545 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.178334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175002;
longitude = 120.352159;
duration = 472;
initialDepth = 475.597790;
finalDepth = 470.178334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.420631
#   Actual altitude:          52.420631
#   Commanded vehicle depth:  470.178334 
#   Seafloor depth:           -521.964305
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 129.820318 meters
#   Minimum depth: 525.597790 meters looking forward 200.000000 meters along route
#   Maximum depth: 545.565943 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 475.597790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174093;
longitude = 120.351563;
duration = 519;
initialDepth = 486.309707;
finalDepth = 475.597790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.982321
#   Actual altitude:          55.982321
#   Commanded vehicle depth:  475.59779 
#   Seafloor depth:           -531.580111
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.407531 meters
#   Minimum depth: 536.309707 meters looking forward 200.000000 meters along route
#   Maximum depth: 552.942256 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.309707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173093;
longitude = 120.350907;
duration = 425;
initialDepth = 500.769972;
finalDepth = 486.309707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4119009999999
#   Actual altitude:          60.4119009999999
#   Commanded vehicle depth:  486.309707 
#   Seafloor depth:           -546.721608
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.114130 meters
#   Minimum depth: 550.769972 meters looking forward 200.000000 meters along route
#   Maximum depth: 555.663974 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 500.769972 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172274;
longitude = 120.350369;
duration = 472;
initialDepth = 505.441102;
finalDepth = 500.769972;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4119009999999
#   Actual altitude:          60.4119009999999
#   Commanded vehicle depth:  500.769972 
#   Seafloor depth:           -553.818118
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 135.381561 meters
#   Minimum depth: 555.441102 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.774249 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 505.441102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171365;
longitude = 120.349772;
duration = 541;
initialDepth = 509.265079;
finalDepth = 505.441102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.048146
#   Actual altitude:          53.048146
#   Commanded vehicle depth:  505.441102 
#   Seafloor depth:           -557.278396
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.847111 meters
#   Minimum depth: 559.265079 meters looking forward 200.000000 meters along route
#   Maximum depth: 575.749515 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.265079 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170323;
longitude = 120.349089;
duration = 403;
initialDepth = 518.351293;
finalDepth = 509.265079;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.8784499999999
#   Actual altitude:          55.8784499999999
#   Commanded vehicle depth:  509.265079 
#   Seafloor depth:           -565.143529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.114541 meters
#   Minimum depth: 568.351293 meters looking forward 200.000000 meters along route
#   Maximum depth: 585.575826 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 518.351293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169547;
longitude = 120.348579;
duration = 472;
initialDepth = 533.448992;
finalDepth = 518.351293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.964207
#   Actual altitude:          58.964207
#   Commanded vehicle depth:  518.351293 
#   Seafloor depth:           -577.315500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.114679 meters
#   Minimum depth: 583.448992 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.109095 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.448992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168638;
longitude = 120.347982;
duration = 472;
initialDepth = 543.490030;
finalDepth = 533.448992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.964207
#   Actual altitude:          58.964207
#   Commanded vehicle depth:  533.448992 
#   Seafloor depth:           -589.378438
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.114816 meters
#   Minimum depth: 593.490030 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.791908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.490030 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167729;
longitude = 120.347386;
duration = 472;
initialDepth = 548.082615;
finalDepth = 543.490030;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.929446
#   Actual altitude:          55.929446
#   Commanded vehicle depth:  543.49003 
#   Seafloor depth:           -597.155574
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.114954 meters
#   Minimum depth: 598.082615 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.798048 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 548.082615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166820;
longitude = 120.346789;
duration = 472;
initialDepth = 543.940459;
finalDepth = 548.082615;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.665544
#   Actual altitude:          53.665544
#   Commanded vehicle depth:  548.082615 
#   Seafloor depth:           -598.798048
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.115090 meters
#   Minimum depth: 593.940459 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.529772 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.940459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165911;
longitude = 120.346192;
duration = 472;
initialDepth = 527.693187;
finalDepth = 543.940459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2526919999999
#   Actual altitude:          53.2526919999999
#   Commanded vehicle depth:  543.940459 
#   Seafloor depth:           -597.193151
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.365714 meters
#   Minimum depth: 577.693187 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.091133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.693187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165002;
longitude = 120.345596;
duration = 473;
initialDepth = 519.436717;
finalDepth = 527.693187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.1624890000001
#   Actual altitude:          62.1624890000001
#   Commanded vehicle depth:  527.693187 
#   Seafloor depth:           -589.855676
# 
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 27
#   Segment length 117.864879 meters
#   Minimum depth: 569.436717 meters looking forward 200.000000 meters along route
#   Maximum depth: 584.927410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.436717 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164091;
longitude = 120.344998;
duration = 471;
initialDepth = 509.936560;
finalDepth = 519.436717;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.1624890000001
#   Actual altitude:          62.1624890000001
#   Commanded vehicle depth:  519.436717 
#   Seafloor depth:           -577.671162
# 
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 27
#   Segment length 118.115502 meters
#   Minimum depth: 559.936560 meters looking forward 200.000000 meters along route
#   Maximum depth: 572.382586 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.936560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163183;
longitude = 120.344402;
duration = 472;
initialDepth = 489.064882;
finalDepth = 509.936560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2344449999999
#   Actual altitude:          58.2344449999999
#   Commanded vehicle depth:  509.93656 
#   Seafloor depth:           -566.681983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 123.926981 meters
#   Minimum depth: 539.064882 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.270098 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.064882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162274;
longitude = 120.343805;
duration = 495;
initialDepth = 478.711947;
finalDepth = 489.064882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.969478
#   Actual altitude:          63.969478
#   Commanded vehicle depth:  489.064882 
#   Seafloor depth:           -553.034360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 112.304435 meters
#   Minimum depth: 528.711947 meters looking forward 200.000000 meters along route
#   Maximum depth: 546.114963 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 478.711947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161321;
longitude = 120.343179;
duration = 449;
initialDepth = 470.972725;
finalDepth = 478.711947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.969478
#   Actual altitude:          63.969478
#   Commanded vehicle depth:  478.711947 
#   Seafloor depth:           -538.433328
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.115914 meters
#   Minimum depth: 520.972725 meters looking forward 200.000000 meters along route
#   Maximum depth: 532.411320 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.972725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160456;
longitude = 120.342612;
duration = 472;
initialDepth = 463.114545;
finalDepth = 470.972725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.721381
#   Actual altitude:          59.721381
#   Commanded vehicle depth:  470.972725 
#   Seafloor depth:           -526.509644
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 129.488287 meters
#   Minimum depth: 513.114545 meters looking forward 200.000000 meters along route
#   Maximum depth: 521.600398 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.114545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159547;
longitude = 120.342015;
duration = 517;
initialDepth = 463.114545;
finalDepth = 463.114545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.536919
#   Actual altitude:          55.536919
#   Commanded vehicle depth:  463.114545 
#   Seafloor depth:           -517.043687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.743952 meters
#   Minimum depth: 513.114545 meters looking forward 200.000000 meters along route
#   Maximum depth: 520.378272 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.114545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158550;
longitude = 120.341361;
duration = 426;
initialDepth = 467.784857;
finalDepth = 463.114545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.929142
#   Actual altitude:          53.929142
#   Commanded vehicle depth:  463.114545 
#   Seafloor depth:           -513.822862
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.116326 meters
#   Minimum depth: 517.784857 meters looking forward 200.000000 meters along route
#   Maximum depth: 528.274835 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.784857 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157729;
longitude = 120.340822;
duration = 472;
initialDepth = 476.871896;
finalDepth = 467.784857;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.821322
#   Actual altitude:          53.821322
#   Commanded vehicle depth:  467.784857 
#   Seafloor depth:           -521.606179
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 135.049631 meters
#   Minimum depth: 526.871896 meters looking forward 200.000000 meters along route
#   Maximum depth: 544.200824 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 476.871896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156820;
longitude = 120.340225;
duration = 540;
initialDepth = 487.137451;
finalDepth = 476.871896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.839041
#   Actual altitude:          55.839041
#   Commanded vehicle depth:  476.871896 
#   Seafloor depth:           -532.710937
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 101.183431 meters
#   Minimum depth: 537.137451 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.929263 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 487.137451 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155780;
longitude = 120.339543;
duration = 404;
initialDepth = 501.177559;
finalDepth = 487.137451;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8769639999999
#   Actual altitude:          58.8769639999999
#   Commanded vehicle depth:  487.137451 
#   Seafloor depth:           -546.014415
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.116738 meters
#   Minimum depth: 551.177559 meters looking forward 200.000000 meters along route
#   Maximum depth: 570.581725 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.177559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155002;
longitude = 120.339032;
duration = 472;
initialDepth = 517.916626;
finalDepth = 501.177559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8769639999999
#   Actual altitude:          58.8769639999999
#   Commanded vehicle depth:  501.177559 
#   Seafloor depth:           -559.551229
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.116874 meters
#   Minimum depth: 567.916626 meters looking forward 200.000000 meters along route
#   Maximum depth: 582.610371 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 517.916626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154093;
longitude = 120.338435;
duration = 472;
initialDepth = 531.571351;
finalDepth = 517.916626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3736700000001
#   Actual altitude:          58.3736700000001
#   Commanded vehicle depth:  517.916626 
#   Seafloor depth:           -575.747033
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 118.117012 meters
#   Minimum depth: 581.571351 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.952893 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 531.571351 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.153183;
longitude = 120.337839;
duration = 472;
initialDepth = 555.717038;
finalDepth = 531.571351;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.622298
#   Actual altitude:          60.622298
#   Commanded vehicle depth:  531.571351 
#   Seafloor depth:           -592.193649
# 
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 27
#   Segment length 130.776118 meters
#   Minimum depth: 605.717038 meters looking forward 200.000000 meters along route
#   Maximum depth: 627.207928 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 555.717038 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.152274;
longitude = 120.337242;
duration = 523;
initialDepth = 568.526108;
finalDepth = 555.717038;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       60.622298
#   Actual altitude:          60.622298
#   Commanded vehicle depth:  555.717038 
#   Seafloor depth:           -613.701313
# 
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;
}
# 
#######################################################
# 
# 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 150.000000 meters
#   Minimum depth: 618.526108 meters looking forward 200.000000 meters along route
#   Maximum depth: 630.260071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 568.526108 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.151268;
longitude = 120.336581;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 559.553831;
finalDepth = 568.526108;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       61.733963
#   Actual altitude:          61.733963
#   Commanded vehicle depth:  568.526108 
#   Seafloor depth:           -630.260071
# 
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 to get to end of line 25
#   Segment length 111.844036 meters
#   Minimum depth: 609.553831 meters looking forward 200.000000 meters along route
#   Maximum depth: 622.018571 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.553831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.151973;
longitude = 120.335342;
duration = 447;
# abortOnTimeout    = True; 
initialDepth = 542.739542;
finalDepth = 559.553831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.733963
#   Actual altitude:          61.733963
#   Commanded vehicle depth:  559.553831 
#   Seafloor depth:           -617.231567
# 
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 25
#   Segment length 104.422905 meters
#   Minimum depth: 592.739542 meters looking forward 200.000000 meters along route
#   Maximum depth: 616.304053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 542.739542 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.152834;
longitude = 120.335907;
duration = 417;
initialDepth = 527.743167;
finalDepth = 542.739542;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.767533
#   Actual altitude:          64.767533
#   Commanded vehicle depth:  542.739542 
#   Seafloor depth:           -607.507075
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.116249 meters
#   Minimum depth: 577.743167 meters looking forward 200.000000 meters along route
#   Maximum depth: 599.793758 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.743167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.153638;
longitude = 120.336434;
duration = 472;
initialDepth = 511.720638;
finalDepth = 527.743167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.767533
#   Actual altitude:          64.767533
#   Commanded vehicle depth:  527.743167 
#   Seafloor depth:           -590.245457
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.116112 meters
#   Minimum depth: 561.720638 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.582447 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.720638 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154547;
longitude = 120.337031;
duration = 472;
initialDepth = 485.172950;
finalDepth = 511.720638;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.50229
#   Actual altitude:          62.50229
#   Commanded vehicle depth:  511.720638 
#   Seafloor depth:           -570.917004
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.115975 meters
#   Minimum depth: 535.172950 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.440857 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 485.172950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155456;
longitude = 120.337628;
duration = 472;
initialDepth = 471.285031;
finalDepth = 485.172950;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.621747
#   Actual altitude:          67.621747
#   Commanded vehicle depth:  485.17295 
#   Seafloor depth:           -552.794697
# 
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 25
#   Segment length 118.115837 meters
#   Minimum depth: 521.285031 meters looking forward 200.000000 meters along route
#   Maximum depth: 543.554115 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.285031 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156365;
longitude = 120.338224;
duration = 472;
initialDepth = 457.696171;
finalDepth = 471.285031;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.621747
#   Actual altitude:          67.621747
#   Commanded vehicle depth:  471.285031 
#   Seafloor depth:           -533.852039
# 
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 25
#   Segment length 118.115700 meters
#   Minimum depth: 507.696171 meters looking forward 200.000000 meters along route
#   Maximum depth: 524.977474 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 457.696171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157274;
longitude = 120.338821;
duration = 472;
initialDepth = 436.687405;
finalDepth = 457.696171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.567008
#   Actual altitude:          62.567008
#   Commanded vehicle depth:  457.696171 
#   Seafloor depth:           -515.782851
# 
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 25
#   Segment length 118.115563 meters
#   Minimum depth: 486.687405 meters looking forward 200.000000 meters along route
#   Maximum depth: 508.396203 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 436.687405 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158183;
longitude = 120.339418;
duration = 472;
initialDepth = 436.521052;
finalDepth = 436.687405;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.004498
#   Actual altitude:          65.004498
#   Commanded vehicle depth:  436.687405 
#   Seafloor depth:           -501.691903
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.115426 meters
#   Minimum depth: 486.521052 meters looking forward 200.000000 meters along route
#   Maximum depth: 490.725305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 436.521052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159093;
longitude = 120.340014;
duration = 472;
initialDepth = 438.167566;
finalDepth = 436.521052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.004498
#   Actual altitude:          65.004498
#   Commanded vehicle depth:  436.521052 
#   Seafloor depth:           -486.521052
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.115288 meters
#   Minimum depth: 488.167566 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.502582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 438.167566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160002;
longitude = 120.340611;
duration = 472;
initialDepth = 449.442634;
finalDepth = 438.167566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.694697
#   Actual altitude:          54.694697
#   Commanded vehicle depth:  438.167566 
#   Seafloor depth:           -492.862263
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 120.366217 meters
#   Minimum depth: 499.442634 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.178104 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.442634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160911;
longitude = 120.341208;
duration = 481;
initialDepth = 465.095014;
finalDepth = 449.442634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.772232
#   Actual altitude:          57.772232
#   Commanded vehicle depth:  449.442634 
#   Seafloor depth:           -507.214866
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 115.863948 meters
#   Minimum depth: 515.095014 meters looking forward 200.000000 meters along route
#   Maximum depth: 536.429257 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.095014 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161837;
longitude = 120.341816;
duration = 463;
initialDepth = 481.691718;
finalDepth = 465.095014;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.414724
#   Actual altitude:          58.414724
#   Commanded vehicle depth:  465.095014 
#   Seafloor depth:           -523.509738
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.114877 meters
#   Minimum depth: 531.691718 meters looking forward 200.000000 meters along route
#   Maximum depth: 548.800415 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.691718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162729;
longitude = 120.342401;
duration = 472;
initialDepth = 498.119697;
finalDepth = 481.691718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.414724
#   Actual altitude:          58.414724
#   Commanded vehicle depth:  481.691718 
#   Seafloor depth:           -540.000013
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 125.930858 meters
#   Minimum depth: 548.119697 meters looking forward 200.000000 meters along route
#   Maximum depth: 572.741116 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 498.119697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163638;
longitude = 120.342998;
duration = 503;
initialDepth = 513.190853;
finalDepth = 498.119697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3082949999999
#   Actual altitude:          58.3082949999999
#   Commanded vehicle depth:  498.119697 
#   Seafloor depth:           -555.921802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 110.298484 meters
#   Minimum depth: 563.190853 meters looking forward 200.000000 meters along route
#   Maximum depth: 582.711247 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.190853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164607;
longitude = 120.343634;
duration = 441;
initialDepth = 529.143811;
finalDepth = 513.190853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4524080000001
#   Actual altitude:          60.4524080000001
#   Commanded vehicle depth:  513.190853 
#   Seafloor depth:           -573.643261
# 
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 25
#   Segment length 118.114465 meters
#   Minimum depth: 579.143811 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.018225 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 529.143811 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.344191;
duration = 472;
initialDepth = 539.296670;
finalDepth = 529.143811;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4524080000001
#   Actual altitude:          60.4524080000001
#   Commanded vehicle depth:  529.143811 
#   Seafloor depth:           -584.436583
# 
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 25
#   Segment length 131.495460 meters
#   Minimum depth: 589.296670 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.286254 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.296670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166365;
longitude = 120.344788;
duration = 525;
initialDepth = 545.130969;
finalDepth = 539.296670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.292772
#   Actual altitude:          55.292772
#   Commanded vehicle depth:  539.29667 
#   Seafloor depth:           -593.111251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 104.733058 meters
#   Minimum depth: 595.130969 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.508026 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 545.130969 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167377;
longitude = 120.345452;
duration = 418;
initialDepth = 543.168695;
finalDepth = 545.130969;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.8145810000001
#   Actual altitude:          53.8145810000001
#   Commanded vehicle depth:  545.130969 
#   Seafloor depth:           -597.412379
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.114053 meters
#   Minimum depth: 593.168695 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.508026 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.168695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168183;
longitude = 120.345981;
duration = 472;
initialDepth = 534.754049;
finalDepth = 543.168695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.50012
#   Actual altitude:          53.50012
#   Commanded vehicle depth:  543.168695 
#   Seafloor depth:           -596.668815
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.113916 meters
#   Minimum depth: 584.754049 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.203685 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.754049 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169093;
longitude = 120.346578;
duration = 472;
initialDepth = 518.571680;
finalDepth = 534.754049;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.358596
#   Actual altitude:          55.358596
#   Commanded vehicle depth:  534.754049 
#   Seafloor depth:           -590.112645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.113779 meters
#   Minimum depth: 568.571680 meters looking forward 200.000000 meters along route
#   Maximum depth: 585.887338 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 518.571680 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170002;
longitude = 120.347175;
duration = 472;
initialDepth = 514.990750;
finalDepth = 518.571680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.674729
#   Actual altitude:          57.674729
#   Commanded vehicle depth:  518.57168 
#   Seafloor depth:           -576.246409
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.113642 meters
#   Minimum depth: 564.990750 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.353024 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.990750 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170911;
longitude = 120.347771;
duration = 472;
initialDepth = 510.251843;
finalDepth = 514.990750;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.674729
#   Actual altitude:          57.674729
#   Commanded vehicle depth:  514.99075 
#   Seafloor depth:           -568.140763
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.113504 meters
#   Minimum depth: 560.251843 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.829493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.251843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171820;
longitude = 120.348368;
duration = 472;
initialDepth = 494.839613;
finalDepth = 510.251843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.152633
#   Actual altitude:          53.152633
#   Commanded vehicle depth:  510.251843 
#   Seafloor depth:           -563.404476
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.113367 meters
#   Minimum depth: 544.839613 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.658367 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 494.839613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172729;
longitude = 120.348965;
duration = 472;
initialDepth = 486.422452;
finalDepth = 494.839613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.738158
#   Actual altitude:          60.738158
#   Commanded vehicle depth:  494.839613 
#   Seafloor depth:           -555.577771
# 
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 25
#   Segment length 118.113230 meters
#   Minimum depth: 536.422452 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.197636 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.422452 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173638;
longitude = 120.349561;
duration = 472;
initialDepth = 479.309524;
finalDepth = 486.422452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.738158
#   Actual altitude:          60.738158
#   Commanded vehicle depth:  486.422452 
#   Seafloor depth:           -544.491013
# 
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 25
#   Segment length 118.113093 meters
#   Minimum depth: 529.309524 meters looking forward 200.000000 meters along route
#   Maximum depth: 538.679432 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 479.309524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174547;
longitude = 120.350158;
duration = 472;
initialDepth = 470.039119;
finalDepth = 479.309524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0685609999999
#   Actual altitude:          58.0685609999999
#   Commanded vehicle depth:  479.309524 
#   Seafloor depth:           -533.656288
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 120.051888 meters
#   Minimum depth: 520.039119 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.377338 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.039119 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175456;
longitude = 120.350755;
duration = 480;
initialDepth = 465.517293;
finalDepth = 470.039119;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.980829
#   Actual altitude:          54.980829
#   Commanded vehicle depth:  470.039119 
#   Seafloor depth:           -525.019948
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 116.173886 meters
#   Minimum depth: 515.517293 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.730626 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.517293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176380;
longitude = 120.351361;
duration = 464;
initialDepth = 460.086494;
finalDepth = 465.517293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.980829
#   Actual altitude:          54.980829
#   Commanded vehicle depth:  465.517293 
#   Seafloor depth:           -519.945019
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.112681 meters
#   Minimum depth: 510.086494 meters looking forward 200.000000 meters along route
#   Maximum depth: 517.293700 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.086494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177274;
longitude = 120.351948;
duration = 472;
initialDepth = 458.261010;
finalDepth = 460.086494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.427726
#   Actual altitude:          54.427726
#   Commanded vehicle depth:  460.086494 
#   Seafloor depth:           -513.823576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 125.616428 meters
#   Minimum depth: 508.261010 meters looking forward 200.000000 meters along route
#   Maximum depth: 510.588353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.261010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178183;
longitude = 120.352545;
duration = 502;
initialDepth = 458.329559;
finalDepth = 458.261010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.737082
#   Actual altitude:          53.737082
#   Commanded vehicle depth:  458.26101 
#   Seafloor depth:           -508.261010
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 110.608523 meters
#   Minimum depth: 508.329559 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.553411 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.329559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179150;
longitude = 120.353179;
duration = 442;
initialDepth = 463.752016;
finalDepth = 458.329559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.674317
#   Actual altitude:          52.674317
#   Commanded vehicle depth:  458.329559 
#   Seafloor depth:           -511.003876
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.112269 meters
#   Minimum depth: 513.752016 meters looking forward 200.000000 meters along route
#   Maximum depth: 517.728876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.752016 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.353738;
duration = 472;
initialDepth = 467.449159;
finalDepth = 463.752016;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.674317
#   Actual altitude:          52.674317
#   Commanded vehicle depth:  463.752016 
#   Seafloor depth:           -516.151829
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 131.180928 meters
#   Minimum depth: 517.449159 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.162174 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.449159 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180911;
longitude = 120.354335;
duration = 524;
initialDepth = 468.093222;
finalDepth = 467.449159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.399813
#   Actual altitude:          52.399813
#   Commanded vehicle depth:  467.449159 
#   Seafloor depth:           -517.847435
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 105.043199 meters
#   Minimum depth: 518.093222 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.162174 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.093222 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181920;
longitude = 120.354998;
duration = 420;
initialDepth = 460.629182;
finalDepth = 468.093222;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.430743
#   Actual altitude:          56.430743
#   Commanded vehicle depth:  468.093222 
#   Seafloor depth:           -524.523965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.111858 meters
#   Minimum depth: 510.629182 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.521204 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.629182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.355528;
duration = 472;
initialDepth = 456.253420;
finalDepth = 460.629182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.430743
#   Actual altitude:          56.430743
#   Commanded vehicle depth:  460.629182 
#   Seafloor depth:           -516.817706
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.111721 meters
#   Minimum depth: 506.253420 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.815615 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 456.253420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183638;
longitude = 120.356125;
duration = 472;
initialDepth = 446.400187;
finalDepth = 456.253420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.188524
#   Actual altitude:          56.188524
#   Commanded vehicle depth:  456.25342 
#   Seafloor depth:           -509.298920
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.111584 meters
#   Minimum depth: 496.400187 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.896098 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.400187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184547;
longitude = 120.356722;
duration = 472;
initialDepth = 444.411136;
finalDepth = 446.400187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.963813
#   Actual altitude:          55.963813
#   Commanded vehicle depth:  446.400187 
#   Seafloor depth:           -502.364000
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.111446 meters
#   Minimum depth: 494.411136 meters looking forward 200.000000 meters along route
#   Maximum depth: 498.930588 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 444.411136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.357318;
duration = 472;
initialDepth = 444.138229;
finalDepth = 444.411136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.963813
#   Actual altitude:          55.963813
#   Commanded vehicle depth:  444.411136 
#   Seafloor depth:           -496.172083
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.111309 meters
#   Minimum depth: 494.138229 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.837146 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 444.138229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186365;
longitude = 120.357915;
duration = 472;
initialDepth = 444.276327;
finalDepth = 444.138229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.760947
#   Actual altitude:          51.760947
#   Commanded vehicle depth:  444.138229 
#   Seafloor depth:           -494.138229
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.111172 meters
#   Minimum depth: 494.276327 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.459631 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 444.276327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187274;
longitude = 120.358512;
duration = 472;
initialDepth = 446.143114;
finalDepth = 444.276327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.704576
#   Actual altitude:          50.704576
#   Commanded vehicle depth:  444.276327 
#   Seafloor depth:           -494.980903
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.111035 meters
#   Minimum depth: 496.143114 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.727829 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.143114 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188183;
longitude = 120.359108;
duration = 472;
initialDepth = 449.121212;
finalDepth = 446.143114;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.410446
#   Actual altitude:          51.410446
#   Commanded vehicle depth:  446.143114 
#   Seafloor depth:           -497.553560
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.110898 meters
#   Minimum depth: 499.121212 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.180211 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.121212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189092;
longitude = 120.359705;
duration = 472;
initialDepth = 438.754781;
finalDepth = 449.121212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.410446
#   Actual altitude:          51.410446
#   Commanded vehicle depth:  449.121212 
#   Seafloor depth:           -500.180211
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 119.737573 meters
#   Minimum depth: 488.754781 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.984866 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 438.754781 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190002;
longitude = 120.360302;
duration = 478;
initialDepth = 430.793123;
finalDepth = 438.754781;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.216906
#   Actual altitude:          59.216906
#   Commanded vehicle depth:  438.754781 
#   Seafloor depth:           -497.971687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 116.483811 meters
#   Minimum depth: 480.793123 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.990173 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 430.793123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190923;
longitude = 120.360907;
duration = 465;
initialDepth = 421.810671;
finalDepth = 430.793123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.216906
#   Actual altitude:          59.216906
#   Commanded vehicle depth:  430.793123 
#   Seafloor depth:           -488.605649
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.110486 meters
#   Minimum depth: 471.810671 meters looking forward 200.000000 meters along route
#   Maximum depth: 483.573198 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 421.810671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191820;
longitude = 120.361495;
duration = 472;
initialDepth = 413.734613;
finalDepth = 421.810671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.812526
#   Actual altitude:          57.812526
#   Commanded vehicle depth:  421.810671 
#   Seafloor depth:           -478.436110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 125.302010 meters
#   Minimum depth: 463.734613 meters looking forward 200.000000 meters along route
#   Maximum depth: 472.007762 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 413.734613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192729;
longitude = 120.362092;
duration = 501;
initialDepth = 408.129992;
finalDepth = 413.734613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.625439
#   Actual altitude:          56.625439
#   Commanded vehicle depth:  413.734613 
#   Seafloor depth:           -469.089687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 110.918551 meters
#   Minimum depth: 458.129992 meters looking forward 200.000000 meters along route
#   Maximum depth: 466.458070 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 408.129992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193693;
longitude = 120.362725;
duration = 443;
initialDepth = 402.705410;
finalDepth = 408.129992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.355074
#   Actual altitude:          55.355074
#   Commanded vehicle depth:  408.129992 
#   Seafloor depth:           -463.334125
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.110075 meters
#   Minimum depth: 452.705410 meters looking forward 200.000000 meters along route
#   Maximum depth: 460.605954 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 402.705410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194547;
longitude = 120.363285;
duration = 472;
initialDepth = 396.524588;
finalDepth = 402.705410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.204133
#   Actual altitude:          55.204133
#   Commanded vehicle depth:  402.70541 
#   Seafloor depth:           -456.838243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 130.866408 meters
#   Minimum depth: 446.524588 meters looking forward 200.000000 meters along route
#   Maximum depth: 453.206020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 396.524588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195456;
longitude = 120.363882;
duration = 523;
initialDepth = 392.905836;
finalDepth = 396.524588;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.132833
#   Actual altitude:          54.132833
#   Commanded vehicle depth:  396.524588 
#   Seafloor depth:           -450.430612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 105.353329 meters
#   Minimum depth: 442.905836 meters looking forward 200.000000 meters along route
#   Maximum depth: 448.964425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 392.905836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196463;
longitude = 120.364543;
duration = 421;
initialDepth = 388.456146;
finalDepth = 392.905836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.906024
#   Actual altitude:          53.906024
#   Commanded vehicle depth:  392.905836 
#   Seafloor depth:           -446.079513
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.109664 meters
#   Minimum depth: 438.456146 meters looking forward 200.000000 meters along route
#   Maximum depth: 444.625762 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 388.456146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197274;
longitude = 120.365075;
duration = 472;
initialDepth = 383.165685;
finalDepth = 388.456146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.861708
#   Actual altitude:          53.861708
#   Commanded vehicle depth:  388.456146 
#   Seafloor depth:           -442.317854
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.109526 meters
#   Minimum depth: 433.165685 meters looking forward 200.000000 meters along route
#   Maximum depth: 439.472163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 383.165685 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198183;
longitude = 120.365672;
duration = 472;
initialDepth = 378.333056;
finalDepth = 383.165685;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.861708
#   Actual altitude:          53.861708
#   Commanded vehicle depth:  383.165685 
#   Seafloor depth:           -435.665855
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.109389 meters
#   Minimum depth: 428.333056 meters looking forward 200.000000 meters along route
#   Maximum depth: 433.664016 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 378.333056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199092;
longitude = 120.366269;
duration = 472;
initialDepth = 375.177282;
finalDepth = 378.333056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.88518
#   Actual altitude:          52.88518
#   Commanded vehicle depth:  378.333056 
#   Seafloor depth:           -431.218236
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 118.335513 meters
#   Minimum depth: 425.177282 meters looking forward 200.000000 meters along route
#   Maximum depth: 429.579977 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 375.177282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200002;
longitude = 120.366865;
duration = 473;
initialDepth = 374.643440;
finalDepth = 375.177282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.935051
#   Actual altitude:          52.935051
#   Commanded vehicle depth:  375.177282 
#   Seafloor depth:           -428.112333
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.47;
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 24
#   Segment length 150.000000 meters
#   Minimum depth: 424.643440 meters looking forward 200.000000 meters along route
#   Maximum depth: 427.040650 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 374.643440 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200912;
longitude = 120.367463;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 376.344382;
finalDepth = 374.643440;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       52.935051
#   Actual altitude:          52.935051
#   Commanded vehicle depth:  374.64344 
#   Seafloor depth:           -424.643440
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.47;
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 23
#   Segment length 91.937900 meters
#   Minimum depth: 426.344382 meters looking forward 200.000000 meters along route
#   Maximum depth: 429.541714 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 376.344382 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201618;
longitude = 120.366224;
duration = 367;
# abortOnTimeout    = True; 
initialDepth = 378.584247;
finalDepth = 376.344382;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.384797
#   Actual altitude:          51.384797
#   Commanded vehicle depth:  376.344382 
#   Seafloor depth:           -427.729179
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.108694 meters
#   Minimum depth: 428.584247 meters looking forward 200.000000 meters along route
#   Maximum depth: 432.161125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 378.584247 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200911;
longitude = 120.365759;
duration = 472;
initialDepth = 382.119498;
finalDepth = 378.584247;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.940974
#   Actual altitude:          51.940974
#   Commanded vehicle depth:  378.584247 
#   Seafloor depth:           -430.525221
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 122.586738 meters
#   Minimum depth: 432.119498 meters looking forward 200.000000 meters along route
#   Maximum depth: 437.404201 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.119498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200002;
longitude = 120.365162;
duration = 490;
initialDepth = 385.295740;
finalDepth = 382.119498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.940974
#   Actual altitude:          51.940974
#   Commanded vehicle depth:  382.119498 
#   Seafloor depth:           -433.567580
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 113.631061 meters
#   Minimum depth: 435.295740 meters looking forward 200.000000 meters along route
#   Maximum depth: 441.518112 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 385.295740 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199058;
longitude = 120.364543;
duration = 454;
initialDepth = 389.886515;
finalDepth = 385.295740;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.286553
#   Actual altitude:          52.286553
#   Commanded vehicle depth:  385.29574 
#   Seafloor depth:           -437.582293
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.109106 meters
#   Minimum depth: 439.886515 meters looking forward 200.000000 meters along route
#   Maximum depth: 447.403554 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 389.886515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198183;
longitude = 120.363969;
duration = 472;
initialDepth = 396.975668;
finalDepth = 389.886515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.763539
#   Actual altitude:          52.763539
#   Commanded vehicle depth:  389.886515 
#   Seafloor depth:           -442.650054
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 128.156231 meters
#   Minimum depth: 446.975668 meters looking forward 200.000000 meters along route
#   Maximum depth: 456.327691 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 396.975668 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197274;
longitude = 120.363372;
duration = 512;
initialDepth = 402.784853;
finalDepth = 396.975668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.838069
#   Actual altitude:          53.838069
#   Commanded vehicle depth:  396.975668 
#   Seafloor depth:           -450.813737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 108.062391 meters
#   Minimum depth: 452.784853 meters looking forward 200.000000 meters along route
#   Maximum depth: 460.803248 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 402.784853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196288;
longitude = 120.362725;
duration = 432;
initialDepth = 408.744420;
finalDepth = 402.784853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.89492
#   Actual altitude:          53.89492
#   Commanded vehicle depth:  402.784853 
#   Seafloor depth:           -456.679773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.109517 meters
#   Minimum depth: 458.744420 meters looking forward 200.000000 meters along route
#   Maximum depth: 466.558569 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 408.744420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195456;
longitude = 120.362179;
duration = 472;
initialDepth = 415.648250;
finalDepth = 408.744420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.89492
#   Actual altitude:          53.89492
#   Commanded vehicle depth:  408.74442 
#   Seafloor depth:           -461.800136
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 133.725763 meters
#   Minimum depth: 465.648250 meters looking forward 200.000000 meters along route
#   Maximum depth: 476.032372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 415.648250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194547;
longitude = 120.361582;
duration = 534;
initialDepth = 422.489475;
finalDepth = 415.648250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.209122
#   Actual altitude:          54.209122
#   Commanded vehicle depth:  415.64825 
#   Seafloor depth:           -469.857372
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.493682 meters
#   Minimum depth: 472.489475 meters looking forward 200.000000 meters along route
#   Maximum depth: 478.513784 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.489475 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193518;
longitude = 120.360907;
duration = 409;
initialDepth = 427.555204;
finalDepth = 422.489475;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.209122
#   Actual altitude:          54.209122
#   Commanded vehicle depth:  422.489475 
#   Seafloor depth:           -476.522612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.109929 meters
#   Minimum depth: 477.555204 meters looking forward 200.000000 meters along route
#   Maximum depth: 481.752938 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 427.555204 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192729;
longitude = 120.360389;
duration = 472;
initialDepth = 430.280475;
finalDepth = 427.555204;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.033137
#   Actual altitude:          54.033137
#   Commanded vehicle depth:  427.555204 
#   Seafloor depth:           -478.750991
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.110066 meters
#   Minimum depth: 480.280475 meters looking forward 200.000000 meters along route
#   Maximum depth: 490.509478 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 430.280475 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191820;
longitude = 120.359792;
duration = 472;
initialDepth = 439.550786;
finalDepth = 430.280475;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.59387
#   Actual altitude:          54.59387
#   Commanded vehicle depth:  430.280475 
#   Seafloor depth:           -484.874345
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.110203 meters
#   Minimum depth: 489.550786 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.962064 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 439.550786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190911;
longitude = 120.359196;
duration = 472;
initialDepth = 451.001992;
finalDepth = 439.550786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.504975
#   Actual altitude:          56.504975
#   Commanded vehicle depth:  439.550786 
#   Seafloor depth:           -496.055761
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.110340 meters
#   Minimum depth: 501.001992 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.623638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 451.001992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190002;
longitude = 120.358599;
duration = 472;
initialDepth = 450.557440;
finalDepth = 451.001992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.504975
#   Actual altitude:          56.504975
#   Commanded vehicle depth:  451.001992 
#   Seafloor depth:           -504.300570
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.110477 meters
#   Minimum depth: 500.557440 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.623638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.557440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189092;
longitude = 120.358002;
duration = 472;
initialDepth = 448.465465;
finalDepth = 450.557440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.298578
#   Actual altitude:          53.298578
#   Commanded vehicle depth:  450.55744 
#   Seafloor depth:           -502.707298
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.110615 meters
#   Minimum depth: 498.465465 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.689881 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 448.465465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188183;
longitude = 120.357405;
duration = 472;
initialDepth = 448.465465;
finalDepth = 448.465465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.149858
#   Actual altitude:          52.149858
#   Commanded vehicle depth:  448.465465 
#   Seafloor depth:           -499.212891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.110751 meters
#   Minimum depth: 498.465465 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.916662 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 448.465465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187274;
longitude = 120.356809;
duration = 472;
initialDepth = 450.463912;
finalDepth = 448.465465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.747426
#   Actual altitude:          50.747426
#   Commanded vehicle depth:  448.465465 
#   Seafloor depth:           -498.740270
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.110889 meters
#   Minimum depth: 500.463912 meters looking forward 200.000000 meters along route
#   Maximum depth: 513.430981 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.463912 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186365;
longitude = 120.356212;
duration = 472;
initialDepth = 463.339407;
finalDepth = 450.463912;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.109574
#   Actual altitude:          56.109574
#   Commanded vehicle depth:  450.463912 
#   Seafloor depth:           -506.573486
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 122.299278 meters
#   Minimum depth: 513.339407 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.587631 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.339407 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.355615;
duration = 489;
initialDepth = 469.867409;
finalDepth = 463.339407;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.109574
#   Actual altitude:          56.109574
#   Commanded vehicle depth:  463.339407 
#   Seafloor depth:           -516.105528
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 113.922912 meters
#   Minimum depth: 519.867409 meters looking forward 200.000000 meters along route
#   Maximum depth: 543.615713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 469.867409 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184515;
longitude = 120.354998;
duration = 455;
initialDepth = 489.927839;
finalDepth = 469.867409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.512274
#   Actual altitude:          61.512274
#   Commanded vehicle depth:  469.867409 
#   Seafloor depth:           -531.379683
# 
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 23
#   Segment length 118.111300 meters
#   Minimum depth: 539.927839 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.623146 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.927839 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183638;
longitude = 120.354422;
duration = 472;
initialDepth = 500.083914;
finalDepth = 489.927839;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.512274
#   Actual altitude:          61.512274
#   Commanded vehicle depth:  489.927839 
#   Seafloor depth:           -545.706724
# 
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 23
#   Segment length 127.868874 meters
#   Minimum depth: 550.083914 meters looking forward 200.000000 meters along route
#   Maximum depth: 554.713056 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 500.083914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.353825;
duration = 511;
initialDepth = 498.989768;
finalDepth = 500.083914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7788850000001
#   Actual altitude:          55.7788850000001
#   Commanded vehicle depth:  500.083914 
#   Seafloor depth:           -553.127751
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 108.354139 meters
#   Minimum depth: 548.989768 meters looking forward 200.000000 meters along route
#   Maximum depth: 554.713056 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 498.989768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181745;
longitude = 120.353179;
duration = 433;
initialDepth = 496.267593;
finalDepth = 498.989768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.221592
#   Actual altitude:          55.221592
#   Commanded vehicle depth:  498.989768 
#   Seafloor depth:           -554.211360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.111712 meters
#   Minimum depth: 546.267593 meters looking forward 200.000000 meters along route
#   Maximum depth: 553.481827 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 496.267593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180911;
longitude = 120.352632;
duration = 472;
initialDepth = 489.046751;
finalDepth = 496.267593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.221592
#   Actual altitude:          55.221592
#   Commanded vehicle depth:  496.267593 
#   Seafloor depth:           -547.109172
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 133.438508 meters
#   Minimum depth: 539.046751 meters looking forward 200.000000 meters along route
#   Maximum depth: 546.497524 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.046751 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.352035;
duration = 533;
initialDepth = 484.092632;
finalDepth = 489.046751;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.283395
#   Actual altitude:          56.283395
#   Commanded vehicle depth:  489.046751 
#   Seafloor depth:           -545.330146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.785328 meters
#   Minimum depth: 534.092632 meters looking forward 200.000000 meters along route
#   Maximum depth: 543.436248 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 484.092632 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178975;
longitude = 120.351361;
duration = 411;
initialDepth = 481.220471;
finalDepth = 484.092632;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.283395
#   Actual altitude:          56.283395
#   Commanded vehicle depth:  484.092632 
#   Seafloor depth:           -538.171228
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.112124 meters
#   Minimum depth: 531.220471 meters looking forward 200.000000 meters along route
#   Maximum depth: 535.941921 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.220471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178183;
longitude = 120.350842;
duration = 472;
initialDepth = 480.030041;
finalDepth = 481.220471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0785960000001
#   Actual altitude:          54.0785960000001
#   Commanded vehicle depth:  481.220471 
#   Seafloor depth:           -533.603886
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.112262 meters
#   Minimum depth: 530.030041 meters looking forward 200.000000 meters along route
#   Maximum depth: 531.532706 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.030041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177274;
longitude = 120.350245;
duration = 472;
initialDepth = 480.030041;
finalDepth = 480.030041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.383415
#   Actual altitude:          52.383415
#   Commanded vehicle depth:  480.030041 
#   Seafloor depth:           -530.231233
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.112398 meters
#   Minimum depth: 530.030041 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.664164 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.030041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176365;
longitude = 120.349649;
duration = 472;
initialDepth = 480.524163;
finalDepth = 480.030041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.376249
#   Actual altitude:          50.376249
#   Commanded vehicle depth:  480.030041 
#   Seafloor depth:           -530.406290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.112535 meters
#   Minimum depth: 530.524163 meters looking forward 200.000000 meters along route
#   Maximum depth: 533.080359 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.524163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175456;
longitude = 120.349052;
duration = 472;
initialDepth = 481.910890;
finalDepth = 480.524163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.376249
#   Actual altitude:          50.376249
#   Commanded vehicle depth:  480.524163 
#   Seafloor depth:           -530.524163
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.112673 meters
#   Minimum depth: 531.910890 meters looking forward 200.000000 meters along route
#   Maximum depth: 539.039330 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.910890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174547;
longitude = 120.348455;
duration = 472;
initialDepth = 488.651135;
finalDepth = 481.910890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.622712
#   Actual altitude:          52.622712
#   Commanded vehicle depth:  481.91089 
#   Seafloor depth:           -534.533602
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.112810 meters
#   Minimum depth: 538.651135 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.429088 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 488.651135 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173638;
longitude = 120.347859;
duration = 472;
initialDepth = 504.047723;
finalDepth = 488.651135;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.527144
#   Actual altitude:          57.527144
#   Commanded vehicle depth:  488.651135 
#   Seafloor depth:           -546.178279
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.112948 meters
#   Minimum depth: 554.047723 meters looking forward 200.000000 meters along route
#   Maximum depth: 566.172878 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.047723 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172729;
longitude = 120.347262;
duration = 472;
initialDepth = 514.379090;
finalDepth = 504.047723;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.527144
#   Actual altitude:          57.527144
#   Commanded vehicle depth:  504.047723 
#   Seafloor depth:           -559.583109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.113084 meters
#   Minimum depth: 564.379090 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.428084 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.379090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171820;
longitude = 120.346665;
duration = 472;
initialDepth = 521.357846;
finalDepth = 514.379090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.535386
#   Actual altitude:          55.535386
#   Commanded vehicle depth:  514.37909 
#   Seafloor depth:           -568.011786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 122.011807 meters
#   Minimum depth: 571.357846 meters looking forward 200.000000 meters along route
#   Maximum depth: 584.047965 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 521.357846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170911;
longitude = 120.346069;
duration = 488;
initialDepth = 529.238558;
finalDepth = 521.357846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.817955
#   Actual altitude:          53.817955
#   Commanded vehicle depth:  521.357846 
#   Seafloor depth:           -575.175801
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 114.214774 meters
#   Minimum depth: 579.238558 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.017457 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 529.238558 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169972;
longitude = 120.345452;
duration = 456;
initialDepth = 541.088264;
finalDepth = 529.238558;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.317168
#   Actual altitude:          55.317168
#   Commanded vehicle depth:  529.238558 
#   Seafloor depth:           -584.555726
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.113496 meters
#   Minimum depth: 591.088264 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.357370 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.088264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169093;
longitude = 120.344875;
duration = 472;
initialDepth = 540.978557;
finalDepth = 541.088264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.317168
#   Actual altitude:          55.317168
#   Commanded vehicle depth:  541.088264 
#   Seafloor depth:           -594.097937
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 127.581506 meters
#   Minimum depth: 590.978557 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.357370 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 540.978557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168183;
longitude = 120.344278;
duration = 510;
initialDepth = 534.910274;
finalDepth = 540.978557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.009677
#   Actual altitude:          54.009677
#   Commanded vehicle depth:  540.978557 
#   Seafloor depth:           -594.988234
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 108.645899 meters
#   Minimum depth: 584.910274 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.179843 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.910274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167201;
longitude = 120.343634;
duration = 434;
initialDepth = 527.201982;
finalDepth = 534.910274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.5628380000001
#   Actual altitude:          55.5628380000001
#   Commanded vehicle depth:  534.910274 
#   Seafloor depth:           -590.473112
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.113908 meters
#   Minimum depth: 577.201982 meters looking forward 200.000000 meters along route
#   Maximum depth: 587.614539 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.201982 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166365;
longitude = 120.343085;
duration = 472;
initialDepth = 508.353947;
finalDepth = 527.201982;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3786229999999
#   Actual altitude:          56.3786229999999
#   Commanded vehicle depth:  527.201982 
#   Seafloor depth:           -583.580605
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 133.151242 meters
#   Minimum depth: 558.353947 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.406067 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.353947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.342488;
duration = 532;
initialDepth = 490.814847;
finalDepth = 508.353947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.2149270000001
#   Actual altitude:          64.2149270000001
#   Commanded vehicle depth:  508.353947 
#   Seafloor depth:           -572.568874
# 
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 23
#   Segment length 103.076986 meters
#   Minimum depth: 540.814847 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.934187 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 490.814847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164431;
longitude = 120.341816;
duration = 412;
initialDepth = 478.254412;
finalDepth = 490.814847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.637423
#   Actual altitude:          64.637423
#   Commanded vehicle depth:  490.814847 
#   Seafloor depth:           -555.452270
# 
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 23
#   Segment length 118.114320 meters
#   Minimum depth: 528.254412 meters looking forward 200.000000 meters along route
#   Maximum depth: 546.868445 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 478.254412 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163638;
longitude = 120.341295;
duration = 472;
initialDepth = 462.319114;
finalDepth = 478.254412;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.637423
#   Actual altitude:          64.637423
#   Commanded vehicle depth:  478.254412 
#   Seafloor depth:           -539.135835
# 
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 23
#   Segment length 118.114457 meters
#   Minimum depth: 512.319114 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.939708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.319114 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162729;
longitude = 120.340698;
duration = 472;
initialDepth = 435.530527;
finalDepth = 462.319114;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.881423
#   Actual altitude:          60.881423
#   Commanded vehicle depth:  462.319114 
#   Seafloor depth:           -521.966273
# 
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 23
#   Segment length 118.114594 meters
#   Minimum depth: 485.530527 meters looking forward 200.000000 meters along route
#   Maximum depth: 513.999055 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.530527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161820;
longitude = 120.340102;
duration = 472;
initialDepth = 424.776256;
finalDepth = 435.530527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.914265
#   Actual altitude:          66.914265
#   Commanded vehicle depth:  435.530527 
#   Seafloor depth:           -502.444792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.114732 meters
#   Minimum depth: 474.776256 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.329075 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 424.776256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160911;
longitude = 120.339505;
duration = 472;
initialDepth = 422.812338;
finalDepth = 424.776256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.914265
#   Actual altitude:          66.914265
#   Commanded vehicle depth:  424.776256 
#   Seafloor depth:           -484.470056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.114869 meters
#   Minimum depth: 472.812338 meters looking forward 200.000000 meters along route
#   Maximum depth: 476.845612 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.812338 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160002;
longitude = 120.338908;
duration = 472;
initialDepth = 423.088519;
finalDepth = 422.812338;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.6938
#   Actual altitude:          59.6938
#   Commanded vehicle depth:  422.812338 
#   Seafloor depth:           -472.812338
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.115006 meters
#   Minimum depth: 473.088519 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.252154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 423.088519 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159093;
longitude = 120.338312;
duration = 472;
initialDepth = 438.105971;
finalDepth = 423.088519;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.553089
#   Actual altitude:          55.553089
#   Commanded vehicle depth:  423.088519 
#   Seafloor depth:           -478.641608
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.115144 meters
#   Minimum depth: 488.105971 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.970172 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 438.105971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158183;
longitude = 120.337715;
duration = 472;
initialDepth = 463.604605;
finalDepth = 438.105971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.617324
#   Actual altitude:          64.617324
#   Commanded vehicle depth:  438.105971 
#   Seafloor depth:           -502.723295
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 118.115280 meters
#   Minimum depth: 513.604605 meters looking forward 200.000000 meters along route
#   Maximum depth: 534.026679 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.604605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157274;
longitude = 120.337118;
duration = 472;
initialDepth = 483.897780;
finalDepth = 463.604605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.617324
#   Actual altitude:          64.617324
#   Commanded vehicle depth:  463.604605 
#   Seafloor depth:           -524.571889
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.724327 meters
#   Minimum depth: 533.897780 meters looking forward 200.000000 meters along route
#   Maximum depth: 564.480124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.897780 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156365;
longitude = 120.336522;
duration = 486;
initialDepth = 504.331880;
finalDepth = 483.897780;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.9672840000001
#   Actual altitude:          60.9672840000001
#   Commanded vehicle depth:  483.89778 
#   Seafloor depth:           -543.494955
# 
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 23
#   Segment length 114.506647 meters
#   Minimum depth: 554.331880 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.943474 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.331880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155428;
longitude = 120.335907;
duration = 458;
initialDepth = 524.242285;
finalDepth = 504.331880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.742022
#   Actual altitude:          60.742022
#   Commanded vehicle depth:  504.33188 
#   Seafloor depth:           -565.073902
# 
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 23
#   Segment length 118.115693 meters
#   Minimum depth: 574.242285 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.854053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 524.242285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154547;
longitude = 120.335328;
duration = 472;
initialDepth = 543.947096;
finalDepth = 524.242285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.742022
#   Actual altitude:          60.742022
#   Commanded vehicle depth:  524.242285 
#   Seafloor depth:           -583.942978
# 
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 23
#   Segment length 124.584277 meters
#   Minimum depth: 593.947096 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.612547 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.947096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.153638;
longitude = 120.334732;
duration = 498;
initialDepth = 562.093989;
finalDepth = 543.947096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.700693
#   Actual altitude:          59.700693
#   Commanded vehicle depth:  543.947096 
#   Seafloor depth:           -602.090594
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.85;
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 22
#   Segment length 150.000000 meters
#   Minimum depth: 612.093989 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.331711 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.093989 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.152679;
longitude = 120.334102;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 556.592641;
finalDepth = 562.093989;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       58.143498
#   Actual altitude:          58.143498
#   Commanded vehicle depth:  562.093989 
#   Seafloor depth:           -615.331711
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.07;
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 21
#   Segment length 91.961181 meters
#   Minimum depth: 606.592641 meters looking forward 200.000000 meters along route
#   Maximum depth: 613.752449 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 556.592641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.153385;
longitude = 120.332863;
duration = 367;
# abortOnTimeout    = True; 
initialDepth = 546.691843;
finalDepth = 556.592641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.835734
#   Actual altitude:          53.835734
#   Commanded vehicle depth:  556.592641 
#   Seafloor depth:           -610.428375
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.115067 meters
#   Minimum depth: 596.691843 meters looking forward 200.000000 meters along route
#   Maximum depth: 608.768415 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.691843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154093;
longitude = 120.333327;
duration = 472;
initialDepth = 520.030976;
finalDepth = 546.691843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2963000000001
#   Actual altitude:          57.2963000000001
#   Commanded vehicle depth:  546.691843 
#   Seafloor depth:           -603.988143
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 122.559772 meters
#   Minimum depth: 570.030976 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.914608 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.030976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155002;
longitude = 120.333924;
duration = 490;
initialDepth = 504.799651;
finalDepth = 520.030976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.197145
#   Actual altitude:          68.197145
#   Commanded vehicle depth:  520.030976 
#   Seafloor depth:           -588.228121
# 
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 21
#   Segment length 113.669951 meters
#   Minimum depth: 554.799651 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.310688 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.799651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155945;
longitude = 120.334543;
duration = 454;
initialDepth = 489.895010;
finalDepth = 504.799651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.197145
#   Actual altitude:          68.197145
#   Commanded vehicle depth:  504.799651 
#   Seafloor depth:           -569.330516
# 
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 21
#   Segment length 118.114656 meters
#   Minimum depth: 539.895010 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.511886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.895010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156820;
longitude = 120.335117;
duration = 472;
initialDepth = 455.647257;
finalDepth = 489.895010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.5308649999999
#   Actual altitude:          64.5308649999999
#   Commanded vehicle depth:  489.89501 
#   Seafloor depth:           -550.848428
# 
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 21
#   Segment length 128.132909 meters
#   Minimum depth: 505.647257 meters looking forward 200.000000 meters along route
#   Maximum depth: 541.152502 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.647257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157729;
longitude = 120.335714;
duration = 512;
initialDepth = 444.333274;
finalDepth = 455.647257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.987205
#   Actual altitude:          74.987205
#   Commanded vehicle depth:  455.647257 
#   Seafloor depth:           -530.634462
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 108.095990 meters
#   Minimum depth: 494.333274 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.487312 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 444.333274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158715;
longitude = 120.336361;
duration = 432;
initialDepth = 437.989780;
finalDepth = 444.333274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.987205
#   Actual altitude:          74.987205
#   Commanded vehicle depth:  444.333274 
#   Seafloor depth:           -504.208602
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.114244 meters
#   Minimum depth: 487.989780 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.721421 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 437.989780 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159547;
longitude = 120.336907;
duration = 472;
initialDepth = 436.225650;
finalDepth = 437.989780;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.875328
#   Actual altitude:          59.875328
#   Commanded vehicle depth:  437.98978 
#   Seafloor depth:           -492.751918
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 133.706007 meters
#   Minimum depth: 486.225650 meters looking forward 200.000000 meters along route
#   Maximum depth: 490.635910 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 436.225650 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160456;
longitude = 120.337504;
duration = 534;
initialDepth = 436.423538;
finalDepth = 436.225650;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.762138
#   Actual altitude:          54.762138
#   Commanded vehicle depth:  436.22565 
#   Seafloor depth:           -486.225650
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 102.522068 meters
#   Minimum depth: 486.423538 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.659621 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 436.423538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161485;
longitude = 120.338179;
duration = 410;
initialDepth = 446.713155;
finalDepth = 436.423538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.517247
#   Actual altitude:          55.517247
#   Commanded vehicle depth:  436.423538 
#   Seafloor depth:           -491.940785
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.113832 meters
#   Minimum depth: 496.713155 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.086921 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.713155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162274;
longitude = 120.338697;
duration = 472;
initialDepth = 462.602725;
finalDepth = 446.713155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.751297
#   Actual altitude:          57.751297
#   Commanded vehicle depth:  446.713155 
#   Seafloor depth:           -504.464452
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.113694 meters
#   Minimum depth: 512.602725 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.347723 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.602725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163183;
longitude = 120.339294;
duration = 472;
initialDepth = 477.931056;
finalDepth = 462.602725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.452987
#   Actual altitude:          58.452987
#   Commanded vehicle depth:  462.602725 
#   Seafloor depth:           -521.055712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.113558 meters
#   Minimum depth: 527.931056 meters looking forward 200.000000 meters along route
#   Maximum depth: 554.273241 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.931056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164093;
longitude = 120.339891;
duration = 472;
initialDepth = 498.452420;
finalDepth = 477.931056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.1197969999999
#   Actual altitude:          59.1197969999999
#   Commanded vehicle depth:  477.931056 
#   Seafloor depth:           -537.050853
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.113419 meters
#   Minimum depth: 548.452420 meters looking forward 200.000000 meters along route
#   Maximum depth: 562.658578 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 498.452420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165002;
longitude = 120.340487;
duration = 472;
initialDepth = 510.645527;
finalDepth = 498.452420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.1197969999999
#   Actual altitude:          59.1197969999999
#   Commanded vehicle depth:  498.45242 
#   Seafloor depth:           -555.114918
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.113283 meters
#   Minimum depth: 560.645527 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.402657 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.645527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165911;
longitude = 120.341084;
duration = 472;
initialDepth = 521.004035;
finalDepth = 510.645527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.662498
#   Actual altitude:          56.662498
#   Commanded vehicle depth:  510.645527 
#   Seafloor depth:           -565.890596
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.113145 meters
#   Minimum depth: 571.004035 meters looking forward 200.000000 meters along route
#   Maximum depth: 583.834373 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 521.004035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166820;
longitude = 120.341681;
duration = 472;
initialDepth = 530.549438;
finalDepth = 521.004035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.5407309999999
#   Actual altitude:          55.5407309999999
#   Commanded vehicle depth:  521.004035 
#   Seafloor depth:           -576.544766
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.113008 meters
#   Minimum depth: 580.549438 meters looking forward 200.000000 meters along route
#   Maximum depth: 587.344166 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 530.549438 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167729;
longitude = 120.342277;
duration = 472;
initialDepth = 536.590138;
finalDepth = 530.549438;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.5407309999999
#   Actual altitude:          55.5407309999999
#   Commanded vehicle depth:  530.549438 
#   Seafloor depth:           -583.917269
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.112871 meters
#   Minimum depth: 586.590138 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.613060 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 536.590138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168638;
longitude = 120.342874;
duration = 472;
initialDepth = 529.412325;
finalDepth = 536.590138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.367831
#   Actual altitude:          53.367831
#   Commanded vehicle depth:  536.590138 
#   Seafloor depth:           -588.116804
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 122.290100 meters
#   Minimum depth: 579.412325 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.613060 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 529.412325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169547;
longitude = 120.343471;
duration = 489;
initialDepth = 524.170817;
finalDepth = 529.412325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.342401
#   Actual altitude:          58.342401
#   Commanded vehicle depth:  529.412325 
#   Seafloor depth:           -587.754726
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 113.935230 meters
#   Minimum depth: 574.170817 meters looking forward 200.000000 meters along route
#   Maximum depth: 582.447305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 524.170817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170488;
longitude = 120.344089;
duration = 455;
initialDepth = 518.667571;
finalDepth = 524.170817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.342401
#   Actual altitude:          58.342401
#   Commanded vehicle depth:  524.170817 
#   Seafloor depth:           -579.205354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.112459 meters
#   Minimum depth: 568.667571 meters looking forward 200.000000 meters along route
#   Maximum depth: 576.134841 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 518.667571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171365;
longitude = 120.344664;
duration = 472;
initialDepth = 505.899157;
finalDepth = 518.667571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.034537
#   Actual altitude:          55.034537
#   Commanded vehicle depth:  518.667571 
#   Seafloor depth:           -572.665952
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 127.863134 meters
#   Minimum depth: 555.899157 meters looking forward 200.000000 meters along route
#   Maximum depth: 569.078401 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 505.899157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172274;
longitude = 120.345261;
duration = 511;
initialDepth = 495.407974;
finalDepth = 505.899157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.2366310000001
#   Actual altitude:          59.2366310000001
#   Commanded vehicle depth:  505.899157 
#   Seafloor depth:           -565.135788
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 108.361372 meters
#   Minimum depth: 545.407974 meters looking forward 200.000000 meters along route
#   Maximum depth: 562.447378 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 495.407974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173258;
longitude = 120.345907;
duration = 433;
initialDepth = 485.613824;
finalDepth = 495.407974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.621765
#   Actual altitude:          59.621765
#   Commanded vehicle depth:  495.407974 
#   Seafloor depth:           -555.029739
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.112047 meters
#   Minimum depth: 535.613824 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.070440 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 485.613824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174093;
longitude = 120.346454;
duration = 472;
initialDepth = 481.837526;
finalDepth = 485.613824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.621765
#   Actual altitude:          59.621765
#   Commanded vehicle depth:  485.613824 
#   Seafloor depth:           -543.166341
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 133.436130 meters
#   Minimum depth: 531.837526 meters looking forward 200.000000 meters along route
#   Maximum depth: 537.071671 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.837526 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175002;
longitude = 120.347051;
duration = 533;
initialDepth = 482.006941;
finalDepth = 481.837526;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.552517
#   Actual altitude:          57.552517
#   Commanded vehicle depth:  481.837526 
#   Seafloor depth:           -531.837526
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 102.787553 meters
#   Minimum depth: 532.006941 meters looking forward 200.000000 meters along route
#   Maximum depth: 548.241962 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 482.006941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176029;
longitude = 120.347725;
duration = 411;
initialDepth = 492.368119;
finalDepth = 482.006941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.5197430000001
#   Actual altitude:          56.5197430000001
#   Commanded vehicle depth:  482.006941 
#   Seafloor depth:           -538.526684
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.111635 meters
#   Minimum depth: 542.368119 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.710934 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 492.368119 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176820;
longitude = 120.348244;
duration = 472;
initialDepth = 506.169946;
finalDepth = 492.368119;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.225513
#   Actual altitude:          57.225513
#   Commanded vehicle depth:  492.368119 
#   Seafloor depth:           -549.593632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.111498 meters
#   Minimum depth: 556.169946 meters looking forward 200.000000 meters along route
#   Maximum depth: 566.545203 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 506.169946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177729;
longitude = 120.348841;
duration = 472;
initialDepth = 515.588615;
finalDepth = 506.169946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.225513
#   Actual altitude:          57.225513
#   Commanded vehicle depth:  506.169946 
#   Seafloor depth:           -561.224858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.111361 meters
#   Minimum depth: 565.588615 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.033358 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 515.588615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178638;
longitude = 120.349437;
duration = 472;
initialDepth = 526.726891;
finalDepth = 515.588615;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.26129
#   Actual altitude:          57.26129
#   Commanded vehicle depth:  515.588615 
#   Seafloor depth:           -572.849905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.111223 meters
#   Minimum depth: 576.726891 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.167339 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 526.726891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179547;
longitude = 120.350034;
duration = 472;
initialDepth = 525.486576;
finalDepth = 526.726891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.26129
#   Actual altitude:          57.26129
#   Commanded vehicle depth:  526.726891 
#   Seafloor depth:           -578.167339
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.111087 meters
#   Minimum depth: 575.486576 meters looking forward 200.000000 meters along route
#   Maximum depth: 577.960321 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.486576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180456;
longitude = 120.350631;
duration = 472;
initialDepth = 525.486576;
finalDepth = 525.486576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.537512
#   Actual altitude:          51.537512
#   Commanded vehicle depth:  525.486576 
#   Seafloor depth:           -577.024088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.110949 meters
#   Minimum depth: 575.486576 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.213967 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.486576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181365;
longitude = 120.351228;
duration = 472;
initialDepth = 527.366256;
finalDepth = 525.486576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7980279999999
#   Actual altitude:          51.7980279999999
#   Commanded vehicle depth:  525.486576 
#   Seafloor depth:           -577.284604
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.110812 meters
#   Minimum depth: 577.366256 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.226471 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.366256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182274;
longitude = 120.351824;
duration = 472;
initialDepth = 524.658557;
finalDepth = 527.366256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7980279999999
#   Actual altitude:          51.7980279999999
#   Commanded vehicle depth:  527.366256 
#   Seafloor depth:           -578.226471
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.110674 meters
#   Minimum depth: 574.658557 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.181044 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 524.658557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183183;
longitude = 120.352421;
duration = 472;
initialDepth = 514.756081;
finalDepth = 524.658557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.523012
#   Actual altitude:          52.523012
#   Commanded vehicle depth:  524.658557 
#   Seafloor depth:           -577.181569
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 122.020439 meters
#   Minimum depth: 564.756081 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.705470 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.756081 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184093;
longitude = 120.353018;
duration = 488;
initialDepth = 503.953916;
finalDepth = 514.756081;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.0571650000001
#   Actual altitude:          57.0571650000001
#   Commanded vehicle depth:  514.756081 
#   Seafloor depth:           -571.813246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 114.200499 meters
#   Minimum depth: 553.953916 meters looking forward 200.000000 meters along route
#   Maximum depth: 569.078230 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 503.953916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185032;
longitude = 120.353634;
duration = 456;
initialDepth = 486.775382;
finalDepth = 503.953916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4560879999999
#   Actual altitude:          60.4560879999999
#   Commanded vehicle depth:  503.953916 
#   Seafloor depth:           -564.410004
# 
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 21
#   Segment length 118.110263 meters
#   Minimum depth: 536.775382 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.879429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.775382 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185911;
longitude = 120.354211;
duration = 472;
initialDepth = 455.756301;
finalDepth = 486.775382;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.935401
#   Actual altitude:          62.935401
#   Commanded vehicle depth:  486.775382 
#   Seafloor depth:           -549.710783
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 127.593371 meters
#   Minimum depth: 505.756301 meters looking forward 200.000000 meters along route
#   Maximum depth: 538.888566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.756301 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186820;
longitude = 120.354808;
duration = 510;
initialDepth = 453.340132;
finalDepth = 455.756301;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.255214
#   Actual altitude:          67.255214
#   Commanded vehicle depth:  455.756301 
#   Seafloor depth:           -523.011515
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 108.626743 meters
#   Minimum depth: 503.340132 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.648495 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 453.340132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187802;
longitude = 120.355452;
duration = 434;
initialDepth = 453.340132;
finalDepth = 453.340132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.255214
#   Actual altitude:          67.255214
#   Commanded vehicle depth:  453.340132 
#   Seafloor depth:           -505.112938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.109851 meters
#   Minimum depth: 503.340132 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.500521 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 453.340132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188638;
longitude = 120.356001;
duration = 472;
initialDepth = 455.148884;
finalDepth = 453.340132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.772806
#   Actual altitude:          51.772806
#   Commanded vehicle depth:  453.340132 
#   Seafloor depth:           -503.609559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 133.166264 meters
#   Minimum depth: 505.148884 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.108150 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.148884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189547;
longitude = 120.356598;
duration = 532;
initialDepth = 453.502695;
finalDepth = 455.148884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.664958
#   Actual altitude:          51.664958
#   Commanded vehicle depth:  455.148884 
#   Seafloor depth:           -506.813842
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 103.053027 meters
#   Minimum depth: 503.502695 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.108150 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 453.502695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190572;
longitude = 120.357270;
duration = 412;
initialDepth = 443.760105;
finalDepth = 453.502695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.318883
#   Actual altitude:          55.318883
#   Commanded vehicle depth:  453.502695 
#   Seafloor depth:           -508.821578
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.109440 meters
#   Minimum depth: 493.760105 meters looking forward 200.000000 meters along route
#   Maximum depth: 507.300139 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 443.760105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191365;
longitude = 120.357791;
duration = 472;
initialDepth = 438.695055;
finalDepth = 443.760105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.483175
#   Actual altitude:          58.483175
#   Commanded vehicle depth:  443.760105 
#   Seafloor depth:           -502.243280
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.109302 meters
#   Minimum depth: 488.695055 meters looking forward 200.000000 meters along route
#   Maximum depth: 495.516958 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 438.695055 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192274;
longitude = 120.358388;
duration = 472;
initialDepth = 435.771744;
finalDepth = 438.695055;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.483175
#   Actual altitude:          58.483175
#   Commanded vehicle depth:  438.695055 
#   Seafloor depth:           -489.930481
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.109165 meters
#   Minimum depth: 485.771744 meters looking forward 200.000000 meters along route
#   Maximum depth: 488.915476 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.771744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193183;
longitude = 120.358984;
duration = 472;
initialDepth = 432.257779;
finalDepth = 435.771744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.996394
#   Actual altitude:          51.996394
#   Commanded vehicle depth:  435.771744 
#   Seafloor depth:           -487.768138
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.109028 meters
#   Minimum depth: 482.257779 meters looking forward 200.000000 meters along route
#   Maximum depth: 486.896483 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 432.257779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194092;
longitude = 120.359581;
duration = 472;
initialDepth = 427.660851;
finalDepth = 432.257779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.332414
#   Actual altitude:          53.332414
#   Commanded vehicle depth:  432.257779 
#   Seafloor depth:           -485.590193
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.108891 meters
#   Minimum depth: 477.660851 meters looking forward 200.000000 meters along route
#   Maximum depth: 483.346222 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 427.660851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195002;
longitude = 120.360178;
duration = 472;
initialDepth = 419.505686;
finalDepth = 427.660851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.332414
#   Actual altitude:          53.332414
#   Commanded vehicle depth:  427.660851 
#   Seafloor depth:           -480.465807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.108753 meters
#   Minimum depth: 469.505686 meters looking forward 200.000000 meters along route
#   Maximum depth: 477.898770 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 419.505686 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195911;
longitude = 120.360774;
duration = 472;
initialDepth = 412.931575;
finalDepth = 419.505686;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.664071
#   Actual altitude:          55.664071
#   Commanded vehicle depth:  419.505686 
#   Seafloor depth:           -475.169757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.108617 meters
#   Minimum depth: 462.931575 meters looking forward 200.000000 meters along route
#   Maximum depth: 472.514397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 412.931575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196820;
longitude = 120.361371;
duration = 472;
initialDepth = 403.599675;
finalDepth = 412.931575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.467572
#   Actual altitude:          56.467572
#   Commanded vehicle depth:  412.931575 
#   Seafloor depth:           -469.399147
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.108479 meters
#   Minimum depth: 453.599675 meters looking forward 200.000000 meters along route
#   Maximum depth: 465.518718 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 403.599675 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197729;
longitude = 120.361968;
duration = 472;
initialDepth = 393.661382;
finalDepth = 403.599675;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.822958
#   Actual altitude:          56.822958
#   Commanded vehicle depth:  403.599675 
#   Seafloor depth:           -460.422633
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.750788 meters
#   Minimum depth: 443.661382 meters looking forward 200.000000 meters along route
#   Maximum depth: 453.669404 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 393.661382 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198638;
longitude = 120.362564;
duration = 487;
initialDepth = 390.075860;
finalDepth = 393.661382;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.822958
#   Actual altitude:          56.822958
#   Commanded vehicle depth:  393.661382 
#   Seafloor depth:           -449.471919
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 114.465758 meters
#   Minimum depth: 440.075860 meters looking forward 200.000000 meters along route
#   Maximum depth: 446.217645 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.075860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199575;
longitude = 120.363179;
duration = 457;
initialDepth = 387.091221;
finalDepth = 390.075860;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.810537
#   Actual altitude:          55.810537
#   Commanded vehicle depth:  390.07586 
#   Seafloor depth:           -443.510377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 118.108068 meters
#   Minimum depth: 437.091221 meters looking forward 200.000000 meters along route
#   Maximum depth: 441.339382 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 387.091221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200456;
longitude = 120.363758;
duration = 472;
initialDepth = 381.211617;
finalDepth = 387.091221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.434517
#   Actual altitude:          53.434517
#   Commanded vehicle depth:  387.091221 
#   Seafloor depth:           -439.220373
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 124.593537 meters
#   Minimum depth: 431.211617 meters looking forward 200.000000 meters along route
#   Maximum depth: 437.278594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 381.211617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201365;
longitude = 120.364354;
duration = 498;
initialDepth = 381.211617;
finalDepth = 381.211617;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.374324
#   Actual altitude:          54.374324
#   Commanded vehicle depth:  381.211617 
#   Seafloor depth:           -435.585941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.19;
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 20
#   Segment length 150.000000 meters
#   Minimum depth: 431.211617 meters looking forward 200.000000 meters along route
#   Maximum depth: 433.330614 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 381.211617 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.202324;
longitude = 120.364984;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 382.953335;
finalDepth = 381.211617;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       54.374324
#   Actual altitude:          54.374324
#   Commanded vehicle depth:  381.211617 
#   Seafloor depth:           -431.414474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 111.774132 meters
#   Minimum depth: 432.953335 meters looking forward 200.000000 meters along route
#   Maximum depth: 437.920184 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.953335 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.203030;
longitude = 120.363744;
duration = 447;
# abortOnTimeout    = True; 
initialDepth = 384.854492;
finalDepth = 382.953335;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.655681
#   Actual altitude:          50.655681
#   Commanded vehicle depth:  382.953335 
#   Seafloor depth:           -433.609016
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 104.527352 meters
#   Minimum depth: 434.854492 meters looking forward 200.000000 meters along route
#   Maximum depth: 442.058412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 384.854492 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.202170;
longitude = 120.363179;
duration = 418;
initialDepth = 390.224035;
finalDepth = 384.854492;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.537428
#   Actual altitude:          53.537428
#   Commanded vehicle depth:  384.854492 
#   Seafloor depth:           -438.391920
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.107510 meters
#   Minimum depth: 440.224035 meters looking forward 200.000000 meters along route
#   Maximum depth: 446.318490 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.224035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201365;
longitude = 120.362651;
duration = 472;
initialDepth = 395.577654;
finalDepth = 390.224035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.537428
#   Actual altitude:          53.537428
#   Commanded vehicle depth:  390.224035 
#   Seafloor depth:           -442.748755
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.107647 meters
#   Minimum depth: 445.577654 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.396792 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 395.577654 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200456;
longitude = 120.362055;
duration = 472;
initialDepth = 400.748682;
finalDepth = 395.577654;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.836044
#   Actual altitude:          52.836044
#   Commanded vehicle depth:  395.577654 
#   Seafloor depth:           -448.413698
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.107784 meters
#   Minimum depth: 450.748682 meters looking forward 200.000000 meters along route
#   Maximum depth: 464.509381 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 400.748682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199547;
longitude = 120.361458;
duration = 472;
initialDepth = 409.666947;
finalDepth = 400.748682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.366422
#   Actual altitude:          54.366422
#   Commanded vehicle depth:  400.748682 
#   Seafloor depth:           -455.115104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.107922 meters
#   Minimum depth: 459.666947 meters looking forward 200.000000 meters along route
#   Maximum depth: 474.187909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 409.666947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198638;
longitude = 120.360861;
duration = 472;
initialDepth = 421.568493;
finalDepth = 409.666947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.687787
#   Actual altitude:          55.687787
#   Commanded vehicle depth:  409.666947 
#   Seafloor depth:           -465.354734
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.108058 meters
#   Minimum depth: 471.568493 meters looking forward 200.000000 meters along route
#   Maximum depth: 481.638789 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 421.568493 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197729;
longitude = 120.360265;
duration = 472;
initialDepth = 431.361933;
finalDepth = 421.568493;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.721459
#   Actual altitude:          56.721459
#   Commanded vehicle depth:  421.568493 
#   Seafloor depth:           -478.289952
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.108196 meters
#   Minimum depth: 481.361933 meters looking forward 200.000000 meters along route
#   Maximum depth: 483.802019 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 431.361933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196820;
longitude = 120.359668;
duration = 472;
initialDepth = 433.024716;
finalDepth = 431.361933;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.721459
#   Actual altitude:          56.721459
#   Commanded vehicle depth:  431.361933 
#   Seafloor depth:           -482.769281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.108333 meters
#   Minimum depth: 483.024716 meters looking forward 200.000000 meters along route
#   Maximum depth: 487.137528 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 433.024716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195911;
longitude = 120.359071;
duration = 472;
initialDepth = 435.764592;
finalDepth = 433.024716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.407348
#   Actual altitude:          51.407348
#   Commanded vehicle depth:  433.024716 
#   Seafloor depth:           -483.845714
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.108471 meters
#   Minimum depth: 485.764592 meters looking forward 200.000000 meters along route
#   Maximum depth: 491.756916 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.764592 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195002;
longitude = 120.358475;
duration = 472;
initialDepth = 441.725991;
finalDepth = 435.764592;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.000591
#   Actual altitude:          53.000591
#   Commanded vehicle depth:  435.764592 
#   Seafloor depth:           -488.765183
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 120.288653 meters
#   Minimum depth: 491.725991 meters looking forward 200.000000 meters along route
#   Maximum depth: 498.377351 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 441.725991 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194092;
longitude = 120.357878;
duration = 481;
initialDepth = 446.703048;
finalDepth = 441.725991;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.000591
#   Actual altitude:          53.000591
#   Commanded vehicle depth:  441.725991 
#   Seafloor depth:           -494.404742
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 115.928699 meters
#   Minimum depth: 496.703048 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.906879 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.703048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193167;
longitude = 120.357270;
duration = 463;
initialDepth = 449.641087;
finalDepth = 446.703048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.678751
#   Actual altitude:          52.678751
#   Commanded vehicle depth:  446.703048 
#   Seafloor depth:           -498.422769
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.108882 meters
#   Minimum depth: 499.641087 meters looking forward 200.000000 meters along route
#   Maximum depth: 507.479934 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.641087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192274;
longitude = 120.356685;
duration = 472;
initialDepth = 457.198004;
finalDepth = 449.641087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.17899
#   Actual altitude:          52.17899
#   Commanded vehicle depth:  449.641087 
#   Seafloor depth:           -501.820077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 125.866643 meters
#   Minimum depth: 507.198004 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.500551 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 457.198004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191365;
longitude = 120.356088;
duration = 503;
initialDepth = 458.340569;
finalDepth = 457.198004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.191176
#   Actual altitude:          52.191176
#   Commanded vehicle depth:  457.198004 
#   Seafloor depth:           -509.389180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 110.351533 meters
#   Minimum depth: 508.340569 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.359594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.340569 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190396;
longitude = 120.355452;
duration = 441;
initialDepth = 458.340569;
finalDepth = 458.340569;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.191176
#   Actual altitude:          52.191176
#   Commanded vehicle depth:  458.340569 
#   Seafloor depth:           -508.457980
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.109294 meters
#   Minimum depth: 508.340569 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.383275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.340569 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189547;
longitude = 120.354895;
duration = 472;
initialDepth = 460.904132;
finalDepth = 458.340569;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.645898
#   Actual altitude:          50.645898
#   Commanded vehicle depth:  458.340569 
#   Seafloor depth:           -508.986467
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 131.444671 meters
#   Minimum depth: 510.904132 meters looking forward 200.000000 meters along route
#   Maximum depth: 533.149185 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.904132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188638;
longitude = 120.354298;
duration = 525;
initialDepth = 470.872676;
finalDepth = 460.904132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.529557
#   Actual altitude:          54.529557
#   Commanded vehicle depth:  460.904132 
#   Seafloor depth:           -515.433689
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 104.774328 meters
#   Minimum depth: 520.872676 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.973846 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.872676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187626;
longitude = 120.353634;
duration = 419;
initialDepth = 492.935471;
finalDepth = 470.872676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.8401180000001
#   Actual altitude:          64.8401180000001
#   Commanded vehicle depth:  470.872676 
#   Seafloor depth:           -535.712794
# 
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.109706 meters
#   Minimum depth: 542.935471 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.967522 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 492.935471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186820;
longitude = 120.353105;
duration = 472;
initialDepth = 519.917107;
finalDepth = 492.935471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.8401180000001
#   Actual altitude:          64.8401180000001
#   Commanded vehicle depth:  492.935471 
#   Seafloor depth:           -553.367518
# 
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.109843 meters
#   Minimum depth: 569.917107 meters looking forward 200.000000 meters along route
#   Maximum depth: 581.562518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.917107 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185911;
longitude = 120.352508;
duration = 472;
initialDepth = 530.682341;
finalDepth = 519.917107;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.432047
#   Actual altitude:          60.432047
#   Commanded vehicle depth:  519.917107 
#   Seafloor depth:           -576.645646
# 
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 19
#   Segment length 118.109980 meters
#   Minimum depth: 580.682341 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.172611 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 530.682341 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185002;
longitude = 120.351911;
duration = 472;
initialDepth = 537.069235;
finalDepth = 530.682341;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.7285390000001
#   Actual altitude:          56.7285390000001
#   Commanded vehicle depth:  530.682341 
#   Seafloor depth:           -584.756867
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.110117 meters
#   Minimum depth: 587.069235 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.379493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 537.069235 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184093;
longitude = 120.351315;
duration = 472;
initialDepth = 536.860429;
finalDepth = 537.069235;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0745260000001
#   Actual altitude:          54.0745260000001
#   Commanded vehicle depth:  537.069235 
#   Seafloor depth:           -588.249430
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.110255 meters
#   Minimum depth: 586.860429 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.379493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 536.860429 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183183;
longitude = 120.350718;
duration = 472;
initialDepth = 534.616170;
finalDepth = 536.860429;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1801949999999
#   Actual altitude:          51.1801949999999
#   Commanded vehicle depth:  536.860429 
#   Seafloor depth:           -587.815142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.110392 meters
#   Minimum depth: 584.616170 meters looking forward 200.000000 meters along route
#   Maximum depth: 587.017740 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.616170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182274;
longitude = 120.350121;
duration = 472;
initialDepth = 534.616170;
finalDepth = 534.616170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9547130000001
#   Actual altitude:          50.9547130000001
#   Commanded vehicle depth:  534.61617 
#   Seafloor depth:           -585.391676
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.110529 meters
#   Minimum depth: 584.616170 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.652409 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.616170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181365;
longitude = 120.349525;
duration = 472;
initialDepth = 537.650865;
finalDepth = 534.616170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.775506
#   Actual altitude:          50.775506
#   Commanded vehicle depth:  534.61617 
#   Seafloor depth:           -584.665471
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.110666 meters
#   Minimum depth: 587.650865 meters looking forward 200.000000 meters along route
#   Maximum depth: 592.134979 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 537.650865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180456;
longitude = 120.348928;
duration = 472;
initialDepth = 542.111145;
finalDepth = 537.650865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.088242
#   Actual altitude:          52.088242
#   Commanded vehicle depth:  537.650865 
#   Seafloor depth:           -589.739107
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 120.045854 meters
#   Minimum depth: 592.111145 meters looking forward 200.000000 meters along route
#   Maximum depth: 592.850724 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 542.111145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179547;
longitude = 120.348331;
duration = 480;
initialDepth = 538.407161;
finalDepth = 542.111145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.088242
#   Actual altitude:          52.088242
#   Commanded vehicle depth:  542.111145 
#   Seafloor depth:           -592.838569
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 116.175891 meters
#   Minimum depth: 588.407161 meters looking forward 200.000000 meters along route
#   Maximum depth: 592.850724 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 538.407161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178623;
longitude = 120.347725;
duration = 464;
initialDepth = 529.744628;
finalDepth = 538.407161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6635160000001
#   Actual altitude:          53.6635160000001
#   Commanded vehicle depth:  538.407161 
#   Seafloor depth:           -592.070677
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.111078 meters
#   Minimum depth: 579.744628 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.263999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 529.744628 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177729;
longitude = 120.347138;
duration = 472;
initialDepth = 506.149607;
finalDepth = 529.744628;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.417725
#   Actual altitude:          57.417725
#   Commanded vehicle depth:  529.744628 
#   Seafloor depth:           -587.162353
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 125.623946 meters
#   Minimum depth: 556.149607 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.526983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 506.149607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176820;
longitude = 120.346541;
duration = 502;
initialDepth = 500.472216;
finalDepth = 506.149607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.66695
#   Actual altitude:          65.66695
#   Commanded vehicle depth:  506.149607 
#   Seafloor depth:           -571.816557
# 
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 19
#   Segment length 110.598623 meters
#   Minimum depth: 550.472216 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.875450 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 500.472216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175853;
longitude = 120.345907;
duration = 442;
initialDepth = 499.214607;
finalDepth = 500.472216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.66695
#   Actual altitude:          65.66695
#   Commanded vehicle depth:  500.472216 
#   Seafloor depth:           -555.509466
# 
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 19
#   Segment length 118.111490 meters
#   Minimum depth: 549.214607 meters looking forward 200.000000 meters along route
#   Maximum depth: 552.756163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 499.214607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175002;
longitude = 120.345348;
duration = 472;
initialDepth = 502.175030;
finalDepth = 499.214607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.03725
#   Actual altitude:          55.03725
#   Commanded vehicle depth:  499.214607 
#   Seafloor depth:           -549.214607
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 131.202077 meters
#   Minimum depth: 552.175030 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.100345 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.175030 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174093;
longitude = 120.344751;
duration = 524;
initialDepth = 505.685120;
finalDepth = 502.175030;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.24184
#   Actual altitude:          52.24184
#   Commanded vehicle depth:  502.17503 
#   Seafloor depth:           -554.416870
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 105.021315 meters
#   Minimum depth: 555.685120 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.326731 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 505.685120 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173083;
longitude = 120.344089;
duration = 420;
initialDepth = 508.287441;
finalDepth = 505.685120;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.24184
#   Actual altitude:          52.24184
#   Commanded vehicle depth:  505.68512 
#   Seafloor depth:           -557.488362
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.111902 meters
#   Minimum depth: 558.287441 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.836748 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.287441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172274;
longitude = 120.343558;
duration = 472;
initialDepth = 511.160101;
finalDepth = 508.287441;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8032420000001
#   Actual altitude:          51.8032420000001
#   Commanded vehicle depth:  508.287441 
#   Seafloor depth:           -559.565008
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.112039 meters
#   Minimum depth: 561.160101 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.710817 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.160101 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171365;
longitude = 120.342961;
duration = 472;
initialDepth = 516.833019;
finalDepth = 511.160101;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8735019999999
#   Actual altitude:          52.8735019999999
#   Commanded vehicle depth:  511.160101 
#   Seafloor depth:           -564.033603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.112177 meters
#   Minimum depth: 566.833019 meters looking forward 200.000000 meters along route
#   Maximum depth: 577.094004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.833019 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170456;
longitude = 120.342365;
duration = 472;
initialDepth = 524.377970;
finalDepth = 516.833019;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.563546
#   Actual altitude:          54.563546
#   Commanded vehicle depth:  516.833019 
#   Seafloor depth:           -571.396565
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.112314 meters
#   Minimum depth: 574.377970 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.437447 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 524.377970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169547;
longitude = 120.341768;
duration = 472;
initialDepth = 528.213851;
finalDepth = 524.377970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.563546
#   Actual altitude:          54.563546
#   Commanded vehicle depth:  524.37797 
#   Seafloor depth:           -577.567226
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.112451 meters
#   Minimum depth: 578.213851 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.711332 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 528.213851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168638;
longitude = 120.341171;
duration = 472;
initialDepth = 520.743201;
finalDepth = 528.213851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.189256
#   Actual altitude:          53.189256
#   Commanded vehicle depth:  528.213851 
#   Seafloor depth:           -578.711332
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.112588 meters
#   Minimum depth: 570.743201 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.234628 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.743201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167729;
longitude = 120.340575;
duration = 472;
initialDepth = 514.553834;
finalDepth = 520.743201;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.891759
#   Actual altitude:          55.891759
#   Commanded vehicle depth:  520.743201 
#   Seafloor depth:           -576.634960
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.112726 meters
#   Minimum depth: 564.553834 meters looking forward 200.000000 meters along route
#   Maximum depth: 573.884694 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.553834 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166820;
longitude = 120.339978;
duration = 472;
initialDepth = 507.864317;
finalDepth = 514.553834;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0017959999999
#   Actual altitude:          56.0017959999999
#   Commanded vehicle depth:  514.553834 
#   Seafloor depth:           -570.555630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.112863 meters
#   Minimum depth: 557.864317 meters looking forward 200.000000 meters along route
#   Maximum depth: 566.558818 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.864317 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165911;
longitude = 120.339381;
duration = 472;
initialDepth = 486.570266;
finalDepth = 507.864317;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0017959999999
#   Actual altitude:          56.0017959999999
#   Commanded vehicle depth:  507.864317 
#   Seafloor depth:           -562.265137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 119.803047 meters
#   Minimum depth: 536.570266 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.942989 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.570266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165002;
longitude = 120.338785;
duration = 479;
initialDepth = 476.565871;
finalDepth = 486.570266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.6913310000001
#   Actual altitude:          66.6913310000001
#   Commanded vehicle depth:  486.570266 
#   Seafloor depth:           -553.261597
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 116.423091 meters
#   Minimum depth: 526.565871 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.086151 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 476.565871 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164080;
longitude = 120.338179;
duration = 465;
initialDepth = 468.198063;
finalDepth = 476.565871;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.6913310000001
#   Actual altitude:          66.6913310000001
#   Commanded vehicle depth:  476.565871 
#   Seafloor depth:           -536.378444
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.113276 meters
#   Minimum depth: 518.198063 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.251004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.198063 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163183;
longitude = 120.337591;
duration = 472;
initialDepth = 458.583497;
finalDepth = 468.198063;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.8125729999999
#   Actual altitude:          59.8125729999999
#   Commanded vehicle depth:  468.198063 
#   Seafloor depth:           -523.914892
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 125.381241 meters
#   Minimum depth: 508.583497 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.596843 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.583497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162274;
longitude = 120.336995;
duration = 501;
initialDepth = 458.583497;
finalDepth = 458.583497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.716829
#   Actual altitude:          55.716829
#   Commanded vehicle depth:  458.583497 
#   Seafloor depth:           -513.902813
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 110.845721 meters
#   Minimum depth: 508.583497 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.539272 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.583497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161309;
longitude = 120.336361;
duration = 443;
initialDepth = 459.938015;
finalDepth = 458.583497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.319316
#   Actual altitude:          55.319316
#   Commanded vehicle depth:  458.583497 
#   Seafloor depth:           -508.651976
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.113687 meters
#   Minimum depth: 509.938015 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.190000 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 459.938015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160456;
longitude = 120.335801;
duration = 472;
initialDepth = 465.428056;
finalDepth = 459.938015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.472294
#   Actual altitude:          52.472294
#   Commanded vehicle depth:  459.938015 
#   Seafloor depth:           -512.410309
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 130.959475 meters
#   Minimum depth: 515.428056 meters looking forward 200.000000 meters along route
#   Maximum depth: 536.256983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.428056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159547;
longitude = 120.335205;
duration = 523;
initialDepth = 475.331482;
finalDepth = 465.428056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.128017
#   Actual altitude:          55.128017
#   Commanded vehicle depth:  465.428056 
#   Seafloor depth:           -520.556073
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 105.268311 meters
#   Minimum depth: 525.331482 meters looking forward 200.000000 meters along route
#   Maximum depth: 553.912688 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 475.331482 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158539;
longitude = 120.334543;
duration = 421;
initialDepth = 497.160560;
finalDepth = 475.331482;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.353447
#   Actual altitude:          63.353447
#   Commanded vehicle depth:  475.331482 
#   Seafloor depth:           -538.684929
# 
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 19
#   Segment length 118.114099 meters
#   Minimum depth: 547.160560 meters looking forward 200.000000 meters along route
#   Maximum depth: 566.925356 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 497.160560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157729;
longitude = 120.334011;
duration = 472;
initialDepth = 514.714726;
finalDepth = 497.160560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.353447
#   Actual altitude:          63.353447
#   Commanded vehicle depth:  497.16056 
#   Seafloor depth:           -556.139597
# 
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 19
#   Segment length 118.114236 meters
#   Minimum depth: 564.714726 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.230343 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.714726 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156820;
longitude = 120.333415;
duration = 472;
initialDepth = 528.743643;
finalDepth = 514.714726;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.9790369999999
#   Actual altitude:          58.9790369999999
#   Commanded vehicle depth:  514.714726 
#   Seafloor depth:           -572.684969
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.114374 meters
#   Minimum depth: 578.743643 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.886175 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 528.743643 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155911;
longitude = 120.332818;
duration = 472;
initialDepth = 543.120133;
finalDepth = 528.743643;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.343531
#   Actual altitude:          58.343531
#   Commanded vehicle depth:  528.743643 
#   Seafloor depth:           -587.087174
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 118.396713 meters
#   Minimum depth: 593.120133 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.554482 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.120133 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155002;
longitude = 120.332221;
duration = 473;
initialDepth = 553.300942;
finalDepth = 543.120133;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.343531
#   Actual altitude:          58.343531
#   Commanded vehicle depth:  543.120133 
#   Seafloor depth:           -598.688992
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.17;
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 18
#   Segment length 150.000000 meters
#   Minimum depth: 603.300942 meters looking forward 200.000000 meters along route
#   Maximum depth: 606.299149 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.300942 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154090;
longitude = 120.331623;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 550.919199;
finalDepth = 553.300942;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       55.568859
#   Actual altitude:          55.568859
#   Commanded vehicle depth:  553.300942 
#   Seafloor depth:           -606.299149
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.78;
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 17
#   Segment length 103.540196 meters
#   Minimum depth: 600.919199 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.034042 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.919199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.154796;
longitude = 120.330384;
duration = 414;
# abortOnTimeout    = True; 
initialDepth = 545.285025;
finalDepth = 550.919199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.114843
#   Actual altitude:          53.114843
#   Commanded vehicle depth:  550.919199 
#   Seafloor depth:           -604.034042
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.349638 meters
#   Minimum depth: 595.285025 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.111972 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 545.285025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155593;
longitude = 120.330907;
duration = 401;
initialDepth = 538.584074;
finalDepth = 545.285025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.918642
#   Actual altitude:          54.918642
#   Commanded vehicle depth:  545.285025 
#   Seafloor depth:           -600.203667
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.113612 meters
#   Minimum depth: 588.584074 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.259641 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 538.584074 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156365;
longitude = 120.331414;
duration = 472;
initialDepth = 530.810989;
finalDepth = 538.584074;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.9907030000001
#   Actual altitude:          55.9907030000001
#   Commanded vehicle depth:  538.584074 
#   Seafloor depth:           -594.574777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.113474 meters
#   Minimum depth: 580.810989 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.076048 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 530.810989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157274;
longitude = 120.332010;
duration = 472;
initialDepth = 511.013195;
finalDepth = 530.810989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.9907030000001
#   Actual altitude:          55.9907030000001
#   Commanded vehicle depth:  530.810989 
#   Seafloor depth:           -585.488029
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.113336 meters
#   Minimum depth: 561.013195 meters looking forward 200.000000 meters along route
#   Maximum depth: 581.532679 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.013195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158183;
longitude = 120.332607;
duration = 472;
initialDepth = 501.503979;
finalDepth = 511.013195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.20583
#   Actual altitude:          64.20583
#   Commanded vehicle depth:  511.013195 
#   Seafloor depth:           -575.219025
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.113199 meters
#   Minimum depth: 551.503979 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.844070 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.503979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159093;
longitude = 120.333204;
duration = 472;
initialDepth = 493.922332;
finalDepth = 501.503979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.20583
#   Actual altitude:          64.20583
#   Commanded vehicle depth:  501.503979 
#   Seafloor depth:           -560.399773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.113062 meters
#   Minimum depth: 543.922332 meters looking forward 200.000000 meters along route
#   Maximum depth: 553.818729 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 493.922332 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160002;
longitude = 120.333800;
duration = 472;
initialDepth = 481.392661;
finalDepth = 493.922332;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.895794
#   Actual altitude:          58.895794
#   Commanded vehicle depth:  493.922332 
#   Seafloor depth:           -548.405497
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.908190 meters
#   Minimum depth: 531.392661 meters looking forward 200.000000 meters along route
#   Maximum depth: 544.095977 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.392661 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160911;
longitude = 120.334397;
duration = 475;
initialDepth = 481.235221;
finalDepth = 481.392661;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.389669
#   Actual altitude:          57.389669
#   Commanded vehicle depth:  481.392661 
#   Seafloor depth:           -538.782330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 117.317522 meters
#   Minimum depth: 531.235221 meters looking forward 200.000000 meters along route
#   Maximum depth: 534.454898 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.235221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161826;
longitude = 120.334998;
duration = 469;
initialDepth = 481.235221;
finalDepth = 481.235221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.389669
#   Actual altitude:          57.389669
#   Commanded vehicle depth:  481.235221 
#   Seafloor depth:           -531.367728
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.112649 meters
#   Minimum depth: 531.235221 meters looking forward 200.000000 meters along route
#   Maximum depth: 536.833273 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.235221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162729;
longitude = 120.335590;
duration = 472;
initialDepth = 486.645293;
finalDepth = 481.235221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2636199999999
#   Actual altitude:          52.2636199999999
#   Commanded vehicle depth:  481.235221 
#   Seafloor depth:           -533.498841
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 124.489762 meters
#   Minimum depth: 536.645293 meters looking forward 200.000000 meters along route
#   Maximum depth: 553.695384 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.645293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163638;
longitude = 120.336187;
duration = 497;
initialDepth = 493.924425;
finalDepth = 486.645293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.135997
#   Actual altitude:          53.135997
#   Commanded vehicle depth:  486.645293 
#   Seafloor depth:           -539.781290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 111.735126 meters
#   Minimum depth: 543.924425 meters looking forward 200.000000 meters along route
#   Maximum depth: 562.661508 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 493.924425 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164596;
longitude = 120.336816;
duration = 446;
initialDepth = 509.949764;
finalDepth = 493.924425;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4550919999999
#   Actual altitude:          60.4550919999999
#   Commanded vehicle depth:  493.924425 
#   Seafloor depth:           -554.379517
# 
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 17
#   Segment length 118.112238 meters
#   Minimum depth: 559.949764 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.800782 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.949764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.337380;
duration = 472;
initialDepth = 517.322575;
finalDepth = 509.949764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4550919999999
#   Actual altitude:          60.4550919999999
#   Commanded vehicle depth:  509.949764 
#   Seafloor depth:           -564.112269
# 
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 17
#   Segment length 130.071293 meters
#   Minimum depth: 567.322575 meters looking forward 200.000000 meters along route
#   Maximum depth: 576.369389 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 517.322575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166365;
longitude = 120.337977;
duration = 520;
initialDepth = 522.664713;
finalDepth = 517.322575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.162505
#   Actual altitude:          54.162505
#   Commanded vehicle depth:  517.322575 
#   Seafloor depth:           -570.616426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 106.152770 meters
#   Minimum depth: 572.664713 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.139840 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.664713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167366;
longitude = 120.338634;
duration = 424;
initialDepth = 527.425404;
finalDepth = 522.664713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0186179999999
#   Actual altitude:          54.0186179999999
#   Commanded vehicle depth:  522.664713 
#   Seafloor depth:           -576.683331
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.111826 meters
#   Minimum depth: 577.425404 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.308967 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.425404 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168183;
longitude = 120.339170;
duration = 472;
initialDepth = 524.283761;
finalDepth = 527.425404;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0186179999999
#   Actual altitude:          54.0186179999999
#   Commanded vehicle depth:  527.425404 
#   Seafloor depth:           -578.308967
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 135.652786 meters
#   Minimum depth: 574.283761 meters looking forward 200.000000 meters along route
#   Maximum depth: 577.742274 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 524.283761 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169093;
longitude = 120.339767;
duration = 542;
initialDepth = 521.435237;
finalDepth = 524.283761;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4514919999999
#   Actual altitude:          52.4514919999999
#   Commanded vehicle depth:  524.283761 
#   Seafloor depth:           -576.735253
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.570454 meters
#   Minimum depth: 571.435237 meters looking forward 200.000000 meters along route
#   Maximum depth: 575.949638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 521.435237 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170137;
longitude = 120.340452;
duration = 402;
initialDepth = 516.875801;
finalDepth = 521.435237;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4514919999999
#   Actual altitude:          52.4514919999999
#   Commanded vehicle depth:  521.435237 
#   Seafloor depth:           -573.885509
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.111413 meters
#   Minimum depth: 566.875801 meters looking forward 200.000000 meters along route
#   Maximum depth: 572.850652 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.875801 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170911;
longitude = 120.340960;
duration = 472;
initialDepth = 510.542384;
finalDepth = 516.875801;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.16664
#   Actual altitude:          54.16664
#   Commanded vehicle depth:  516.875801 
#   Seafloor depth:           -571.042441
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.111277 meters
#   Minimum depth: 560.542384 meters looking forward 200.000000 meters along route
#   Maximum depth: 568.171825 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.542384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171820;
longitude = 120.341557;
duration = 472;
initialDepth = 508.232546;
finalDepth = 510.542384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.16664
#   Actual altitude:          54.16664
#   Commanded vehicle depth:  510.542384 
#   Seafloor depth:           -564.188660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.111139 meters
#   Minimum depth: 558.232546 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.949007 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.232546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172729;
longitude = 120.342154;
duration = 472;
initialDepth = 508.297708;
finalDepth = 508.232546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6462760000001
#   Actual altitude:          53.6462760000001
#   Commanded vehicle depth:  508.232546 
#   Seafloor depth:           -558.452003
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.111002 meters
#   Minimum depth: 558.297708 meters looking forward 200.000000 meters along route
#   Maximum depth: 562.070864 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.297708 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173638;
longitude = 120.342750;
duration = 472;
initialDepth = 510.944129;
finalDepth = 508.297708;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0200020000001
#   Actual altitude:          51.0200020000001
#   Commanded vehicle depth:  508.297708 
#   Seafloor depth:           -559.317710
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.110864 meters
#   Minimum depth: 560.944129 meters looking forward 200.000000 meters along route
#   Maximum depth: 566.808367 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.944129 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174547;
longitude = 120.343347;
duration = 472;
initialDepth = 516.722217;
finalDepth = 510.944129;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.391886
#   Actual altitude:          52.391886
#   Commanded vehicle depth:  510.944129 
#   Seafloor depth:           -563.336015
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.683298 meters
#   Minimum depth: 566.722217 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.520373 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.722217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175456;
longitude = 120.343944;
duration = 474;
initialDepth = 534.318733;
finalDepth = 516.722217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.0716640000001
#   Actual altitude:          61.0716640000001
#   Commanded vehicle depth:  516.722217 
#   Seafloor depth:           -577.793881
# 
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 17
#   Segment length 117.538019 meters
#   Minimum depth: 584.318733 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.933184 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.318733 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176370;
longitude = 120.344543;
duration = 470;
initialDepth = 544.613989;
finalDepth = 534.318733;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.0716640000001
#   Actual altitude:          61.0716640000001
#   Commanded vehicle depth:  534.318733 
#   Seafloor depth:           -590.565294
# 
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 17
#   Segment length 118.110453 meters
#   Minimum depth: 594.613989 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.662456 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.613989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177274;
longitude = 120.345137;
duration = 472;
initialDepth = 539.506667;
finalDepth = 544.613989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.246561
#   Actual altitude:          56.246561
#   Commanded vehicle depth:  544.613989 
#   Seafloor depth:           -597.239540
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 124.264766 meters
#   Minimum depth: 589.506667 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.662456 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.506667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178183;
longitude = 120.345733;
duration = 497;
initialDepth = 534.306350;
finalDepth = 539.506667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.137507
#   Actual altitude:          56.137507
#   Commanded vehicle depth:  539.506667 
#   Seafloor depth:           -595.644174
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 111.955727 meters
#   Minimum depth: 584.306350 meters looking forward 200.000000 meters along route
#   Maximum depth: 592.616813 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.306350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179140;
longitude = 120.346361;
duration = 447;
initialDepth = 528.506903;
finalDepth = 534.306350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.137507
#   Actual altitude:          56.137507
#   Commanded vehicle depth:  534.30635 
#   Seafloor depth:           -589.149508
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.110041 meters
#   Minimum depth: 578.506903 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.424822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 528.506903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.346927;
duration = 472;
initialDepth = 516.585356;
finalDepth = 528.506903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.843158
#   Actual altitude:          54.843158
#   Commanded vehicle depth:  528.506903 
#   Seafloor depth:           -582.954485
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 129.846195 meters
#   Minimum depth: 566.585356 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.044930 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.585356 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180911;
longitude = 120.347523;
duration = 519;
initialDepth = 516.585356;
finalDepth = 516.585356;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.7857339999999
#   Actual altitude:          58.7857339999999
#   Commanded vehicle depth:  516.585356 
#   Seafloor depth:           -575.371090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 106.373474 meters
#   Minimum depth: 566.585356 meters looking forward 200.000000 meters along route
#   Maximum depth: 569.728959 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.585356 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181910;
longitude = 120.348179;
duration = 425;
initialDepth = 517.703672;
finalDepth = 516.585356;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.7857339999999
#   Actual altitude:          58.7857339999999
#   Commanded vehicle depth:  516.585356 
#   Seafloor depth:           -566.639997
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.109629 meters
#   Minimum depth: 567.703672 meters looking forward 200.000000 meters along route
#   Maximum depth: 570.843007 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 517.703672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.348717;
duration = 472;
initialDepth = 520.380435;
finalDepth = 517.703672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.262799
#   Actual altitude:          51.262799
#   Commanded vehicle depth:  517.703672 
#   Seafloor depth:           -568.966471
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 135.427585 meters
#   Minimum depth: 570.380435 meters looking forward 200.000000 meters along route
#   Maximum depth: 575.958865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.380435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183638;
longitude = 120.349313;
duration = 541;
initialDepth = 519.927542;
finalDepth = 520.380435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1899169999999
#   Actual altitude:          52.1899169999999
#   Commanded vehicle depth:  520.380435 
#   Seafloor depth:           -572.570352
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.791261 meters
#   Minimum depth: 569.927542 meters looking forward 200.000000 meters along route
#   Maximum depth: 575.958865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.927542 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184680;
longitude = 120.349998;
duration = 403;
initialDepth = 511.490233;
finalDepth = 519.927542;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.6597399999999
#   Actual altitude:          55.6597399999999
#   Commanded vehicle depth:  519.927542 
#   Seafloor depth:           -575.587282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.109217 meters
#   Minimum depth: 561.490233 meters looking forward 200.000000 meters along route
#   Maximum depth: 573.756098 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.490233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.350507;
duration = 472;
initialDepth = 495.995466;
finalDepth = 511.490233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5740070000001
#   Actual altitude:          57.5740070000001
#   Commanded vehicle depth:  511.490233 
#   Seafloor depth:           -569.064240
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.109079 meters
#   Minimum depth: 545.995466 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.477761 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 495.995466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186365;
longitude = 120.351103;
duration = 472;
initialDepth = 486.848767;
finalDepth = 495.995466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.5364380000001
#   Actual altitude:          61.5364380000001
#   Commanded vehicle depth:  495.995466 
#   Seafloor depth:           -557.531904
# 
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 17
#   Segment length 118.108943 meters
#   Minimum depth: 536.848767 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.611311 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.848767 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187274;
longitude = 120.351700;
duration = 472;
initialDepth = 480.882677;
finalDepth = 486.848767;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.5364380000001
#   Actual altitude:          61.5364380000001
#   Commanded vehicle depth:  486.848767 
#   Seafloor depth:           -542.692779
# 
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 17
#   Segment length 118.108805 meters
#   Minimum depth: 530.882677 meters looking forward 200.000000 meters along route
#   Maximum depth: 539.563457 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.882677 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188183;
longitude = 120.352297;
duration = 472;
initialDepth = 474.181016;
finalDepth = 480.882677;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.844012
#   Actual altitude:          55.844012
#   Commanded vehicle depth:  480.882677 
#   Seafloor depth:           -536.409422
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.108668 meters
#   Minimum depth: 524.181016 meters looking forward 200.000000 meters along route
#   Maximum depth: 532.361199 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 474.181016 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189092;
longitude = 120.352893;
duration = 472;
initialDepth = 462.494210;
finalDepth = 474.181016;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.526745
#   Actual altitude:          55.526745
#   Commanded vehicle depth:  474.181016 
#   Seafloor depth:           -528.258535
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.458414 meters
#   Minimum depth: 512.494210 meters looking forward 200.000000 meters along route
#   Maximum depth: 524.367754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.494210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190002;
longitude = 120.353490;
duration = 473;
initialDepth = 459.078768;
finalDepth = 462.494210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.6005160000001
#   Actual altitude:          57.6005160000001
#   Commanded vehicle depth:  462.49421 
#   Seafloor depth:           -520.094726
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 117.758509 meters
#   Minimum depth: 509.078768 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.302953 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 459.078768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190913;
longitude = 120.354089;
duration = 471;
initialDepth = 458.859337;
finalDepth = 459.078768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.6005160000001
#   Actual altitude:          57.6005160000001
#   Commanded vehicle depth:  459.078768 
#   Seafloor depth:           -512.471293
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.108256 meters
#   Minimum depth: 508.859337 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.916109 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.859337 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191820;
longitude = 120.354683;
duration = 472;
initialDepth = 453.451809;
finalDepth = 458.859337;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3925249999999
#   Actual altitude:          53.3925249999999
#   Commanded vehicle depth:  458.859337 
#   Seafloor depth:           -508.859337
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 124.039780 meters
#   Minimum depth: 503.451809 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.180876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 453.451809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192729;
longitude = 120.355280;
duration = 496;
initialDepth = 451.511967;
finalDepth = 453.451809;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.718447
#   Actual altitude:          54.718447
#   Commanded vehicle depth:  453.451809 
#   Seafloor depth:           -508.170256
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 112.176320 meters
#   Minimum depth: 501.511967 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.932025 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 451.511967 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193684;
longitude = 120.355907;
duration = 448;
initialDepth = 450.310136;
finalDepth = 451.511967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.718447
#   Actual altitude:          54.718447
#   Commanded vehicle depth:  451.511967 
#   Seafloor depth:           -503.245706
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.107845 meters
#   Minimum depth: 500.310136 meters looking forward 200.000000 meters along route
#   Maximum depth: 501.934347 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.310136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194547;
longitude = 120.356473;
duration = 472;
initialDepth = 435.095936;
finalDepth = 450.310136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.733739
#   Actual altitude:          51.733739
#   Commanded vehicle depth:  450.310136 
#   Seafloor depth:           -500.971517
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 129.621105 meters
#   Minimum depth: 485.095936 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.510790 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.095936 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195456;
longitude = 120.357070;
duration = 518;
initialDepth = 432.602373;
finalDepth = 435.095936;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.141692
#   Actual altitude:          63.141692
#   Commanded vehicle depth:  435.095936 
#   Seafloor depth:           -498.237628
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 106.594171 meters
#   Minimum depth: 482.602373 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.032972 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 432.602373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196454;
longitude = 120.357725;
duration = 426;
initialDepth = 432.602373;
finalDepth = 432.602373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.141692
#   Actual altitude:          63.141692
#   Commanded vehicle depth:  432.602373 
#   Seafloor depth:           -484.242288
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.107433 meters
#   Minimum depth: 482.602373 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.239603 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 432.602373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197274;
longitude = 120.358263;
duration = 472;
initialDepth = 423.044678;
finalDepth = 432.602373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.639915
#   Actual altitude:          51.639915
#   Commanded vehicle depth:  432.602373 
#   Seafloor depth:           -483.836642
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 135.202392 meters
#   Minimum depth: 473.044678 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.239603 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 423.044678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198183;
longitude = 120.358860;
duration = 540;
initialDepth = 414.649613;
finalDepth = 423.044678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.69986
#   Actual altitude:          59.69986
#   Commanded vehicle depth:  423.044678 
#   Seafloor depth:           -482.744538
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.012061 meters
#   Minimum depth: 464.649613 meters looking forward 200.000000 meters along route
#   Maximum depth: 479.416643 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 414.649613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199224;
longitude = 120.359543;
duration = 404;
initialDepth = 407.712105;
finalDepth = 414.649613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.69986
#   Actual altitude:          59.69986
#   Commanded vehicle depth:  414.649613 
#   Seafloor depth:           -471.672290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.107021 meters
#   Minimum depth: 457.712105 meters looking forward 200.000000 meters along route
#   Maximum depth: 468.203388 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 407.712105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200002;
longitude = 120.360053;
duration = 472;
initialDepth = 400.750926;
finalDepth = 407.712105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.022677
#   Actual altitude:          57.022677
#   Commanded vehicle depth:  407.712105 
#   Seafloor depth:           -463.814398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.106883 meters
#   Minimum depth: 450.750926 meters looking forward 200.000000 meters along route
#   Maximum depth: 459.255144 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 400.750926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200911;
longitude = 120.360650;
duration = 472;
initialDepth = 391.059957;
finalDepth = 400.750926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.102293
#   Actual altitude:          56.102293
#   Commanded vehicle depth:  400.750926 
#   Seafloor depth:           -454.688685
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 118.106746 meters
#   Minimum depth: 441.059957 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.252928 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 391.059957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201820;
longitude = 120.361247;
duration = 472;
initialDepth = 382.909544;
finalDepth = 391.059957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.362997
#   Actual altitude:          56.362997
#   Commanded vehicle depth:  391.059957 
#   Seafloor depth:           -447.422954
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 130.847278 meters
#   Minimum depth: 432.909544 meters looking forward 200.000000 meters along route
#   Maximum depth: 444.125359 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.909544 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.202729;
longitude = 120.361843;
duration = 523;
initialDepth = 382.011022;
finalDepth = 382.909544;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.848646
#   Actual altitude:          57.848646
#   Commanded vehicle depth:  382.909544 
#   Seafloor depth:           -440.758190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.92;
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 150.000000 meters
#   Minimum depth: 432.011022 meters looking forward 200.000000 meters along route
#   Maximum depth: 435.096893 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.011022 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.203736;
longitude = 120.362504;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 382.011022;
finalDepth = 382.011022;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       57.848646
#   Actual altitude:          57.848646
#   Commanded vehicle depth:  382.011022 
#   Seafloor depth:           -432.062401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 104.446042 meters
#   Minimum depth: 432.011022 meters looking forward 200.000000 meters along route
#   Maximum depth: 434.885200 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.011022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.204442;
longitude = 120.361265;
duration = 417;
# abortOnTimeout    = True; 
initialDepth = 383.710022;
finalDepth = 382.011022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.627322
#   Actual altitude:          50.627322
#   Commanded vehicle depth:  382.011022 
#   Seafloor depth:           -432.638344
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.106051 meters
#   Minimum depth: 433.710022 meters looking forward 200.000000 meters along route
#   Maximum depth: 441.705337 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 383.710022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.203638;
longitude = 120.360737;
duration = 472;
initialDepth = 391.465959;
finalDepth = 383.710022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.808892
#   Actual altitude:          52.808892
#   Commanded vehicle depth:  383.710022 
#   Seafloor depth:           -436.518914
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.227230 meters
#   Minimum depth: 441.465959 meters looking forward 200.000000 meters along route
#   Maximum depth: 454.023267 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 391.465959 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.202729;
longitude = 120.360140;
duration = 472;
initialDepth = 400.019427;
finalDepth = 391.465959;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.723792
#   Actual altitude:          54.723792
#   Commanded vehicle depth:  391.465959 
#   Seafloor depth:           -446.189751
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 117.985285 meters
#   Minimum depth: 450.019427 meters looking forward 200.000000 meters along route
#   Maximum depth: 460.607674 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 400.019427 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201819;
longitude = 120.359543;
duration = 471;
initialDepth = 408.260145;
finalDepth = 400.019427;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.723792
#   Actual altitude:          54.723792
#   Commanded vehicle depth:  400.019427 
#   Seafloor depth:           -454.031582
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.106463 meters
#   Minimum depth: 458.260145 meters looking forward 200.000000 meters along route
#   Maximum depth: 467.069045 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 408.260145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200911;
longitude = 120.358947;
duration = 472;
initialDepth = 416.856381;
finalDepth = 408.260145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.402622
#   Actual altitude:          54.402622
#   Commanded vehicle depth:  408.260145 
#   Seafloor depth:           -462.662767
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 123.813613 meters
#   Minimum depth: 466.856381 meters looking forward 200.000000 meters along route
#   Maximum depth: 477.754092 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 416.856381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200002;
longitude = 120.358350;
duration = 495;
initialDepth = 424.481644;
finalDepth = 416.856381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.402622
#   Actual altitude:          54.402622
#   Commanded vehicle depth:  416.856381 
#   Seafloor depth:           -470.740736
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 112.399725 meters
#   Minimum depth: 474.481644 meters looking forward 200.000000 meters along route
#   Maximum depth: 482.928725 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 424.481644 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199049;
longitude = 120.357725;
duration = 449;
initialDepth = 431.230110;
finalDepth = 424.481644;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.884355
#   Actual altitude:          53.884355
#   Commanded vehicle depth:  424.481644 
#   Seafloor depth:           -478.072309
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.106875 meters
#   Minimum depth: 481.230110 meters looking forward 200.000000 meters along route
#   Maximum depth: 486.229398 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 431.230110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198183;
longitude = 120.357157;
duration = 472;
initialDepth = 436.100641;
finalDepth = 431.230110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.590665
#   Actual altitude:          53.590665
#   Commanded vehicle depth:  431.23011 
#   Seafloor depth:           -484.242986
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 129.400036 meters
#   Minimum depth: 486.100641 meters looking forward 200.000000 meters along route
#   Maximum depth: 501.654573 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 436.100641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197274;
longitude = 120.356560;
duration = 517;
initialDepth = 440.767530;
finalDepth = 436.100641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0128759999999
#   Actual altitude:          53.0128759999999
#   Commanded vehicle depth:  436.100641 
#   Seafloor depth:           -487.953893
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 106.814125 meters
#   Minimum depth: 490.767530 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.922587 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 440.767530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196278;
longitude = 120.355907;
duration = 427;
initialDepth = 460.481796;
finalDepth = 440.767530;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.692171
#   Actual altitude:          62.692171
#   Commanded vehicle depth:  440.76753 
#   Seafloor depth:           -503.459701
# 
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 15
#   Segment length 118.107287 meters
#   Minimum depth: 510.481796 meters looking forward 200.000000 meters along route
#   Maximum depth: 513.730432 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.481796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195456;
longitude = 120.355367;
duration = 472;
initialDepth = 463.669136;
finalDepth = 460.481796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.692171
#   Actual altitude:          62.692171
#   Commanded vehicle depth:  460.481796 
#   Seafloor depth:           -513.730432
# 
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 15
#   Segment length 134.986499 meters
#   Minimum depth: 513.669136 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.643340 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.669136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194547;
longitude = 120.354770;
duration = 539;
initialDepth = 462.999273;
finalDepth = 463.669136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.248636
#   Actual altitude:          53.248636
#   Commanded vehicle depth:  463.669136 
#   Seafloor depth:           -514.064968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.228486 meters
#   Minimum depth: 512.999273 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.643340 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.999273 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193508;
longitude = 120.354089;
duration = 404;
initialDepth = 461.914022;
finalDepth = 462.999273;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.597722
#   Actual altitude:          53.597722
#   Commanded vehicle depth:  462.999273 
#   Seafloor depth:           -516.596995
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.107699 meters
#   Minimum depth: 511.914022 meters looking forward 200.000000 meters along route
#   Maximum depth: 514.998486 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.914022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192729;
longitude = 120.353577;
duration = 472;
initialDepth = 461.914022;
finalDepth = 461.914022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.597722
#   Actual altitude:          53.597722
#   Commanded vehicle depth:  461.914022 
#   Seafloor depth:           -512.524260
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.107836 meters
#   Minimum depth: 511.914022 meters looking forward 200.000000 meters along route
#   Maximum depth: 521.113123 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.914022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191820;
longitude = 120.352980;
duration = 472;
initialDepth = 470.485590;
finalDepth = 461.914022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.731154
#   Actual altitude:          54.731154
#   Commanded vehicle depth:  461.914022 
#   Seafloor depth:           -516.645176
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.107973 meters
#   Minimum depth: 520.485590 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.229989 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.485590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190911;
longitude = 120.352384;
duration = 472;
initialDepth = 476.289114;
finalDepth = 470.485590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.731154
#   Actual altitude:          54.731154
#   Commanded vehicle depth:  470.48559 
#   Seafloor depth:           -524.479977
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.108110 meters
#   Minimum depth: 526.289114 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.473899 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 476.289114 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190002;
longitude = 120.351787;
duration = 472;
initialDepth = 477.117590;
finalDepth = 476.289114;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.994387
#   Actual altitude:          53.994387
#   Commanded vehicle depth:  476.289114 
#   Seafloor depth:           -527.224931
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.108248 meters
#   Minimum depth: 527.117590 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.473899 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.117590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189092;
longitude = 120.351191;
duration = 472;
initialDepth = 477.117590;
finalDepth = 477.117590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9358169999999
#   Actual altitude:          50.9358169999999
#   Commanded vehicle depth:  477.11759 
#   Seafloor depth:           -527.408299
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.108385 meters
#   Minimum depth: 527.117590 meters looking forward 200.000000 meters along route
#   Maximum depth: 531.025952 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.117590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188183;
longitude = 120.350594;
duration = 472;
initialDepth = 478.157888;
finalDepth = 477.117590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2907090000001
#   Actual altitude:          50.2907090000001
#   Commanded vehicle depth:  477.11759 
#   Seafloor depth:           -527.138462
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.108523 meters
#   Minimum depth: 528.157888 meters looking forward 200.000000 meters along route
#   Maximum depth: 539.070822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 478.157888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187274;
longitude = 120.349997;
duration = 472;
initialDepth = 485.406289;
finalDepth = 478.157888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.872974
#   Actual altitude:          52.872974
#   Commanded vehicle depth:  478.157888 
#   Seafloor depth:           -531.030862
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.108659 meters
#   Minimum depth: 535.406289 meters looking forward 200.000000 meters along route
#   Maximum depth: 544.132923 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 485.406289 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186365;
longitude = 120.349401;
duration = 472;
initialDepth = 494.038288;
finalDepth = 485.406289;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.6079619999999
#   Actual altitude:          56.6079619999999
#   Commanded vehicle depth:  485.406289 
#   Seafloor depth:           -542.014251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 123.615597 meters
#   Minimum depth: 544.038288 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.401278 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 494.038288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.348804;
duration = 494;
initialDepth = 496.824710;
finalDepth = 494.038288;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.6079619999999
#   Actual altitude:          56.6079619999999
#   Commanded vehicle depth:  494.038288 
#   Seafloor depth:           -545.601846
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 112.602135 meters
#   Minimum depth: 546.824710 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.504677 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 496.824710 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184505;
longitude = 120.348179;
duration = 450;
initialDepth = 497.347645;
finalDepth = 496.824710;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5635580000001
#   Actual altitude:          51.5635580000001
#   Commanded vehicle depth:  496.82471 
#   Seafloor depth:           -547.355113
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.109071 meters
#   Minimum depth: 547.347645 meters looking forward 200.000000 meters along route
#   Maximum depth: 548.352981 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 497.347645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183638;
longitude = 120.347611;
duration = 472;
initialDepth = 498.254870;
finalDepth = 497.347645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.530403
#   Actual altitude:          50.530403
#   Commanded vehicle depth:  497.347645 
#   Seafloor depth:           -547.597188
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 129.202124 meters
#   Minimum depth: 548.254870 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.476429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 498.254870 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.347014;
duration = 516;
initialDepth = 499.306966;
finalDepth = 498.254870;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.926371
#   Actual altitude:          50.926371
#   Commanded vehicle depth:  498.25487 
#   Seafloor depth:           -549.181241
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 107.016431 meters
#   Minimum depth: 549.306966 meters looking forward 200.000000 meters along route
#   Maximum depth: 556.993494 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 499.306966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181734;
longitude = 120.346361;
duration = 428;
initialDepth = 502.337820;
finalDepth = 499.306966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.520863
#   Actual altitude:          51.520863
#   Commanded vehicle depth:  499.306966 
#   Seafloor depth:           -550.827829
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.109484 meters
#   Minimum depth: 552.337820 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.707925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.337820 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180911;
longitude = 120.345821;
duration = 472;
initialDepth = 511.050738;
finalDepth = 502.337820;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.365796
#   Actual altitude:          56.365796
#   Commanded vehicle depth:  502.33782 
#   Seafloor depth:           -558.703616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 134.788689 meters
#   Minimum depth: 561.050738 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.063040 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.050738 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.345224;
duration = 539;
initialDepth = 516.105729;
finalDepth = 511.050738;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.365796
#   Actual altitude:          56.365796
#   Commanded vehicle depth:  511.050738 
#   Seafloor depth:           -563.770456
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.430690 meters
#   Minimum depth: 566.105729 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.925343 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.105729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178964;
longitude = 120.344543;
duration = 405;
initialDepth = 525.621626;
finalDepth = 516.105729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.293739
#   Actual altitude:          56.293739
#   Commanded vehicle depth:  516.105729 
#   Seafloor depth:           -572.399468
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.109896 meters
#   Minimum depth: 575.621626 meters looking forward 200.000000 meters along route
#   Maximum depth: 582.586759 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.621626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178183;
longitude = 120.344031;
duration = 472;
initialDepth = 530.319490;
finalDepth = 525.621626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.293739
#   Actual altitude:          56.293739
#   Commanded vehicle depth:  525.621626 
#   Seafloor depth:           -579.560917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.110033 meters
#   Minimum depth: 580.319490 meters looking forward 200.000000 meters along route
#   Maximum depth: 582.766194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 530.319490 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177274;
longitude = 120.343434;
duration = 472;
initialDepth = 517.587269;
finalDepth = 530.319490;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.939291
#   Actual altitude:          53.939291
#   Commanded vehicle depth:  530.31949 
#   Seafloor depth:           -582.766194
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.110170 meters
#   Minimum depth: 567.587269 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.584106 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 517.587269 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176365;
longitude = 120.342837;
duration = 472;
initialDepth = 511.280070;
finalDepth = 517.587269;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.510956
#   Actual altitude:          58.510956
#   Commanded vehicle depth:  517.587269 
#   Seafloor depth:           -576.098225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.110308 meters
#   Minimum depth: 561.280070 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.679356 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.280070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175456;
longitude = 120.342241;
duration = 472;
initialDepth = 509.387130;
finalDepth = 511.280070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.510956
#   Actual altitude:          58.510956
#   Commanded vehicle depth:  511.28007 
#   Seafloor depth:           -567.231577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.110445 meters
#   Minimum depth: 559.387130 meters looking forward 200.000000 meters along route
#   Maximum depth: 562.283051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.387130 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174547;
longitude = 120.341644;
duration = 472;
initialDepth = 509.387130;
finalDepth = 509.387130;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.951507
#   Actual altitude:          55.951507
#   Commanded vehicle depth:  509.38713 
#   Seafloor depth:           -560.183760
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.110582 meters
#   Minimum depth: 559.387130 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.277515 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.387130 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173638;
longitude = 120.341047;
duration = 472;
initialDepth = 513.646190;
finalDepth = 509.387130;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.328477
#   Actual altitude:          51.328477
#   Commanded vehicle depth:  509.38713 
#   Seafloor depth:           -560.715607
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.110719 meters
#   Minimum depth: 563.646190 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.209506 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.646190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172729;
longitude = 120.340451;
duration = 472;
initialDepth = 520.169741;
finalDepth = 513.646190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6476409999999
#   Actual altitude:          53.6476409999999
#   Commanded vehicle depth:  513.64619 
#   Seafloor depth:           -567.293831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.110857 meters
#   Minimum depth: 570.169741 meters looking forward 200.000000 meters along route
#   Maximum depth: 573.199046 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.169741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171820;
longitude = 120.339854;
duration = 472;
initialDepth = 523.154601;
finalDepth = 520.169741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6476409999999
#   Actual altitude:          53.6476409999999
#   Commanded vehicle depth:  520.169741 
#   Seafloor depth:           -571.893440
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 123.417574 meters
#   Minimum depth: 573.154601 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.088243 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.154601 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170911;
longitude = 120.339257;
duration = 493;
initialDepth = 525.849489;
finalDepth = 523.154601;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.723699
#   Actual altitude:          51.723699
#   Commanded vehicle depth:  523.154601 
#   Seafloor depth:           -574.273268
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 112.804552 meters
#   Minimum depth: 575.849489 meters looking forward 200.000000 meters along route
#   Maximum depth: 583.269779 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.849489 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169961;
longitude = 120.338634;
duration = 451;
initialDepth = 531.862365;
finalDepth = 525.849489;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.509141
#   Actual altitude:          52.509141
#   Commanded vehicle depth:  525.849489 
#   Seafloor depth:           -578.358630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.111269 meters
#   Minimum depth: 581.862365 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.058626 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 531.862365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169093;
longitude = 120.338064;
duration = 472;
initialDepth = 533.871479;
finalDepth = 531.862365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.509141
#   Actual altitude:          52.509141
#   Commanded vehicle depth:  531.862365 
#   Seafloor depth:           -584.218316
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 129.004204 meters
#   Minimum depth: 583.871479 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.455065 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.871479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168183;
longitude = 120.337467;
duration = 516;
initialDepth = 529.598852;
finalDepth = 533.871479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.583586
#   Actual altitude:          52.583586
#   Commanded vehicle depth:  533.871479 
#   Seafloor depth:           -586.455065
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 107.218747 meters
#   Minimum depth: 579.598852 meters looking forward 200.000000 meters along route
#   Maximum depth: 585.984901 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 529.598852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167190;
longitude = 120.336816;
duration = 428;
initialDepth = 523.949425;
finalDepth = 529.598852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.836995
#   Actual altitude:          53.836995
#   Commanded vehicle depth:  529.598852 
#   Seafloor depth:           -583.435847
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.111681 meters
#   Minimum depth: 573.949425 meters looking forward 200.000000 meters along route
#   Maximum depth: 581.534708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.949425 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166365;
longitude = 120.336274;
duration = 472;
initialDepth = 512.902118;
finalDepth = 523.949425;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.790829
#   Actual altitude:          54.790829
#   Commanded vehicle depth:  523.949425 
#   Seafloor depth:           -578.740254
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 134.590872 meters
#   Minimum depth: 562.902118 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.936489 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 512.902118 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.335678;
duration = 538;
initialDepth = 504.875604;
finalDepth = 512.902118;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.9352
#   Actual altitude:          57.9352
#   Commanded vehicle depth:  512.902118 
#   Seafloor depth:           -570.837318
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.632902 meters
#   Minimum depth: 554.875604 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.651396 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.875604 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164420;
longitude = 120.334998;
duration = 406;
initialDepth = 502.721685;
finalDepth = 504.875604;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.9352
#   Actual altitude:          57.9352
#   Commanded vehicle depth:  504.875604 
#   Seafloor depth:           -561.093593
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.112093 meters
#   Minimum depth: 552.721685 meters looking forward 200.000000 meters along route
#   Maximum depth: 556.783740 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.721685 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163638;
longitude = 120.334484;
duration = 472;
initialDepth = 502.721685;
finalDepth = 502.721685;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.2179890000001
#   Actual altitude:          56.2179890000001
#   Commanded vehicle depth:  502.721685 
#   Seafloor depth:           -554.445907
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.112231 meters
#   Minimum depth: 552.721685 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.972723 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.721685 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162729;
longitude = 120.333888;
duration = 472;
initialDepth = 507.378403;
finalDepth = 502.721685;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7242220000001
#   Actual altitude:          51.7242220000001
#   Commanded vehicle depth:  502.721685 
#   Seafloor depth:           -554.156982
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.112368 meters
#   Minimum depth: 557.378403 meters looking forward 200.000000 meters along route
#   Maximum depth: 568.948926 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.378403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161820;
longitude = 120.333291;
duration = 472;
initialDepth = 515.439094;
finalDepth = 507.378403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.2254399999999
#   Actual altitude:          54.2254399999999
#   Commanded vehicle depth:  507.378403 
#   Seafloor depth:           -561.603843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.112505 meters
#   Minimum depth: 565.439094 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.465323 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 515.439094 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160911;
longitude = 120.332694;
duration = 472;
initialDepth = 522.638070;
finalDepth = 515.439094;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.2254399999999
#   Actual altitude:          54.2254399999999
#   Commanded vehicle depth:  515.439094 
#   Seafloor depth:           -569.310288
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.112643 meters
#   Minimum depth: 572.638070 meters looking forward 200.000000 meters along route
#   Maximum depth: 581.658364 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.638070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160002;
longitude = 120.332098;
duration = 472;
initialDepth = 531.416383;
finalDepth = 522.638070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.086714
#   Actual altitude:          54.086714
#   Commanded vehicle depth:  522.63807 
#   Seafloor depth:           -576.724784
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.112780 meters
#   Minimum depth: 581.416383 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.063123 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 531.416383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159093;
longitude = 120.331501;
duration = 472;
initialDepth = 541.094721;
finalDepth = 531.416383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9288749999999
#   Actual altitude:          54.9288749999999
#   Commanded vehicle depth:  531.416383 
#   Seafloor depth:           -586.345258
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.112917 meters
#   Minimum depth: 591.094721 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.925693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.094721 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158183;
longitude = 120.330904;
duration = 472;
initialDepth = 547.475699;
finalDepth = 541.094721;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9288749999999
#   Actual altitude:          54.9288749999999
#   Commanded vehicle depth:  541.094721 
#   Seafloor depth:           -595.092105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 118.113055 meters
#   Minimum depth: 597.475699 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.457045 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.475699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157274;
longitude = 120.330308;
duration = 472;
initialDepth = 553.332843;
finalDepth = 547.475699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.9973839999999
#   Actual altitude:          53.9973839999999
#   Commanded vehicle depth:  547.475699 
#   Seafloor depth:           -600.175694
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 112.213428 meters
#   Minimum depth: 603.332843 meters looking forward 200.000000 meters along route
#   Maximum depth: 608.643805 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.332843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156365;
longitude = 120.329711;
duration = 448;
initialDepth = 559.042557;
finalDepth = 553.332843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.971125
#   Actual altitude:          52.971125
#   Commanded vehicle depth:  553.332843 
#   Seafloor depth:           -606.303968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.49;
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 14
#   Segment length 150.000000 meters
#   Minimum depth: 609.042557 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.874515 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.042557 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155502;
longitude = 120.329144;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 562.035312;
finalDepth = 559.042557;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       52.971125
#   Actual altitude:          52.971125
#   Commanded vehicle depth:  559.042557 
#   Seafloor depth:           -609.042557
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.49;
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 13
#   Segment length 79.595268 meters
#   Minimum depth: 612.035312 meters looking forward 200.000000 meters along route
#   Maximum depth: 613.324502 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.035312 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156207;
longitude = 120.327905;
duration = 318;
# abortOnTimeout    = True; 
initialDepth = 562.333316;
finalDepth = 562.035312;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7971620000001
#   Actual altitude:          50.7971620000001
#   Commanded vehicle depth:  562.035312 
#   Seafloor depth:           -612.832474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.112430 meters
#   Minimum depth: 612.333316 meters looking forward 200.000000 meters along route
#   Maximum depth: 613.324502 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.333316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156820;
longitude = 120.328307;
duration = 472;
initialDepth = 557.057623;
finalDepth = 562.333316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7971620000001
#   Actual altitude:          50.7971620000001
#   Commanded vehicle depth:  562.333316 
#   Seafloor depth:           -613.122558
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 126.650856 meters
#   Minimum depth: 607.057623 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.399112 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 557.057623 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157729;
longitude = 120.328903;
duration = 506;
initialDepth = 551.821598;
finalDepth = 557.057623;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7836259999999
#   Actual altitude:          53.7836259999999
#   Commanded vehicle depth:  557.057623 
#   Seafloor depth:           -610.841249
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 109.573592 meters
#   Minimum depth: 601.821598 meters looking forward 200.000000 meters along route
#   Maximum depth: 610.041243 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 551.821598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158704;
longitude = 120.329543;
duration = 438;
initialDepth = 546.959599;
finalDepth = 551.821598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.837282
#   Actual altitude:          54.837282
#   Commanded vehicle depth:  551.821598 
#   Seafloor depth:           -606.658880
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.112017 meters
#   Minimum depth: 596.959599 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.934204 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.959599 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159547;
longitude = 120.330097;
duration = 472;
initialDepth = 538.785659;
finalDepth = 546.959599;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.837282
#   Actual altitude:          54.837282
#   Commanded vehicle depth:  546.959599 
#   Seafloor depth:           -600.696111
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 132.240888 meters
#   Minimum depth: 588.785659 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.528693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 538.785659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160456;
longitude = 120.330693;
duration = 528;
initialDepth = 533.876421;
finalDepth = 538.785659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.506699
#   Actual altitude:          55.506699
#   Commanded vehicle depth:  538.785659 
#   Seafloor depth:           -594.292358
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.982735 meters
#   Minimum depth: 583.876421 meters looking forward 200.000000 meters along route
#   Maximum depth: 592.243681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.876421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161474;
longitude = 120.331361;
duration = 415;
initialDepth = 528.431680;
finalDepth = 533.876421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.506699
#   Actual altitude:          55.506699
#   Commanded vehicle depth:  533.876421 
#   Seafloor depth:           -588.191489
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.111606 meters
#   Minimum depth: 578.431680 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.231776 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 528.431680 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162274;
longitude = 120.331887;
duration = 472;
initialDepth = 522.867611;
finalDepth = 528.431680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.646406
#   Actual altitude:          54.646406
#   Commanded vehicle depth:  528.43168 
#   Seafloor depth:           -583.078086
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.111468 meters
#   Minimum depth: 572.867611 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.437405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.867611 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163183;
longitude = 120.332483;
duration = 472;
initialDepth = 522.867611;
finalDepth = 522.867611;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.646406
#   Actual altitude:          54.646406
#   Commanded vehicle depth:  522.867611 
#   Seafloor depth:           -575.509331
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.111330 meters
#   Minimum depth: 572.867611 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.397189 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.867611 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164093;
longitude = 120.333080;
duration = 472;
initialDepth = 527.747745;
finalDepth = 522.867611;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.64172
#   Actual altitude:          52.64172
#   Commanded vehicle depth:  522.867611 
#   Seafloor depth:           -572.940720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.111193 meters
#   Minimum depth: 577.747745 meters looking forward 200.000000 meters along route
#   Maximum depth: 581.704437 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.747745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165002;
longitude = 120.333676;
duration = 472;
initialDepth = 531.036142;
finalDepth = 527.747745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.92868
#   Actual altitude:          51.92868
#   Commanded vehicle depth:  527.747745 
#   Seafloor depth:           -579.676425
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.111056 meters
#   Minimum depth: 581.036142 meters looking forward 200.000000 meters along route
#   Maximum depth: 585.910351 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 531.036142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165911;
longitude = 120.334273;
duration = 472;
initialDepth = 535.614017;
finalDepth = 531.036142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.155681
#   Actual altitude:          52.155681
#   Commanded vehicle depth:  531.036142 
#   Seafloor depth:           -583.191823
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.110919 meters
#   Minimum depth: 585.614017 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.765645 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 535.614017 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166820;
longitude = 120.334870;
duration = 472;
initialDepth = 541.569368;
finalDepth = 535.614017;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.232092
#   Actual altitude:          53.232092
#   Commanded vehicle depth:  535.614017 
#   Seafloor depth:           -588.846109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.110781 meters
#   Minimum depth: 591.569368 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.363959 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.569368 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167729;
longitude = 120.335466;
duration = 472;
initialDepth = 545.051052;
finalDepth = 541.569368;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.232092
#   Actual altitude:          53.232092
#   Commanded vehicle depth:  541.569368 
#   Seafloor depth:           -593.861498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.110643 meters
#   Minimum depth: 595.051052 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.249020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 545.051052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168638;
longitude = 120.336063;
duration = 472;
initialDepth = 534.582313;
finalDepth = 545.051052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2921299999999
#   Actual altitude:          52.2921299999999
#   Commanded vehicle depth:  545.051052 
#   Seafloor depth:           -595.716104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 120.880571 meters
#   Minimum depth: 584.582313 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.249020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.582313 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169547;
longitude = 120.336660;
duration = 483;
initialDepth = 527.685648;
finalDepth = 534.582313;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.584395
#   Actual altitude:          60.584395
#   Commanded vehicle depth:  534.582313 
#   Seafloor depth:           -595.166708
# 
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 13
#   Segment length 115.340305 meters
#   Minimum depth: 577.685648 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.334433 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 527.685648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170477;
longitude = 120.337270;
duration = 461;
initialDepth = 523.510567;
finalDepth = 527.685648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.584395
#   Actual altitude:          60.584395
#   Commanded vehicle depth:  527.685648 
#   Seafloor depth:           -584.320896
# 
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 13
#   Segment length 118.110231 meters
#   Minimum depth: 573.510567 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.980938 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.510567 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171365;
longitude = 120.337853;
duration = 472;
initialDepth = 520.004823;
finalDepth = 523.510567;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.6352479999999
#   Actual altitude:          56.6352479999999
#   Commanded vehicle depth:  523.510567 
#   Seafloor depth:           -576.356277
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 126.470538 meters
#   Minimum depth: 570.004823 meters looking forward 200.000000 meters along route
#   Maximum depth: 573.715606 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.004823 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172274;
longitude = 120.338450;
duration = 505;
initialDepth = 515.965310;
finalDepth = 520.004823;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8457099999999
#   Actual altitude:          52.8457099999999
#   Commanded vehicle depth:  520.004823 
#   Seafloor depth:           -572.068763
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 109.749513 meters
#   Minimum depth: 565.965310 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.407099 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 515.965310 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173248;
longitude = 120.339089;
duration = 438;
initialDepth = 510.140678;
finalDepth = 515.965310;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.8389609999999
#   Actual altitude:          53.8389609999999
#   Commanded vehicle depth:  515.96531 
#   Seafloor depth:           -569.804271
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.109819 meters
#   Minimum depth: 560.140678 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.943825 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.140678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174093;
longitude = 120.339643;
duration = 472;
initialDepth = 506.354498;
finalDepth = 510.140678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.620885
#   Actual altitude:          54.620885
#   Commanded vehicle depth:  510.140678 
#   Seafloor depth:           -564.761563
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 132.060467 meters
#   Minimum depth: 556.354498 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.791043 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 506.354498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175002;
longitude = 120.340240;
duration = 528;
initialDepth = 506.354498;
finalDepth = 506.354498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.620885
#   Actual altitude:          54.620885
#   Commanded vehicle depth:  506.354498 
#   Seafloor depth:           -558.061392
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 104.158760 meters
#   Minimum depth: 556.354498 meters looking forward 200.000000 meters along route
#   Maximum depth: 558.939412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 506.354498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176018;
longitude = 120.340907;
duration = 416;
initialDepth = 508.248175;
finalDepth = 506.354498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7068939999999
#   Actual altitude:          51.7068939999999
#   Commanded vehicle depth:  506.354498 
#   Seafloor depth:           -557.230137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.109408 meters
#   Minimum depth: 558.248175 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.631300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.248175 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176820;
longitude = 120.341433;
duration = 472;
initialDepth = 508.097006;
finalDepth = 508.248175;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9628
#   Actual altitude:          50.9628
#   Commanded vehicle depth:  508.248175 
#   Seafloor depth:           -559.210975
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.109269 meters
#   Minimum depth: 558.097006 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.631300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.097006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177729;
longitude = 120.342030;
duration = 472;
initialDepth = 503.594460;
finalDepth = 508.097006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.341127
#   Actual altitude:          51.341127
#   Commanded vehicle depth:  508.097006 
#   Seafloor depth:           -559.438133
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.109133 meters
#   Minimum depth: 553.594460 meters looking forward 200.000000 meters along route
#   Maximum depth: 558.348637 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 503.594460 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178638;
longitude = 120.342626;
duration = 472;
initialDepth = 501.768556;
finalDepth = 503.594460;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2967179999999
#   Actual altitude:          53.2967179999999
#   Commanded vehicle depth:  503.59446 
#   Seafloor depth:           -556.891178
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.108995 meters
#   Minimum depth: 551.768556 meters looking forward 200.000000 meters along route
#   Maximum depth: 555.288385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.768556 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179547;
longitude = 120.343223;
duration = 472;
initialDepth = 498.978899;
finalDepth = 501.768556;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2967179999999
#   Actual altitude:          53.2967179999999
#   Commanded vehicle depth:  501.768556 
#   Seafloor depth:           -553.402309
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.108858 meters
#   Minimum depth: 548.978899 meters looking forward 200.000000 meters along route
#   Maximum depth: 552.421257 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 498.978899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180456;
longitude = 120.343819;
duration = 472;
initialDepth = 493.006446;
finalDepth = 498.978899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.131216
#   Actual altitude:          52.131216
#   Commanded vehicle depth:  498.978899 
#   Seafloor depth:           -551.110115
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.108721 meters
#   Minimum depth: 543.006446 meters looking forward 200.000000 meters along route
#   Maximum depth: 549.142757 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 493.006446 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181365;
longitude = 120.344416;
duration = 472;
initialDepth = 491.205971;
finalDepth = 493.006446;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5030810000001
#   Actual altitude:          53.5030810000001
#   Commanded vehicle depth:  493.006446 
#   Seafloor depth:           -546.509527
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.108583 meters
#   Minimum depth: 541.205971 meters looking forward 200.000000 meters along route
#   Maximum depth: 544.824611 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 491.205971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182274;
longitude = 120.345013;
duration = 472;
initialDepth = 489.191160;
finalDepth = 491.205971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5030810000001
#   Actual altitude:          53.5030810000001
#   Commanded vehicle depth:  491.205971 
#   Seafloor depth:           -542.954617
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.108446 meters
#   Minimum depth: 539.191160 meters looking forward 200.000000 meters along route
#   Maximum depth: 542.021448 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.191160 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183183;
longitude = 120.345609;
duration = 472;
initialDepth = 484.103821;
finalDepth = 489.191160;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.748646
#   Actual altitude:          51.748646
#   Commanded vehicle depth:  489.19116 
#   Seafloor depth:           -540.877754
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 120.700363 meters
#   Minimum depth: 534.103821 meters looking forward 200.000000 meters along route
#   Maximum depth: 539.194782 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 484.103821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184093;
longitude = 120.346206;
duration = 482;
initialDepth = 483.334916;
finalDepth = 484.103821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3197799999999
#   Actual altitude:          53.3197799999999
#   Commanded vehicle depth:  484.103821 
#   Seafloor depth:           -537.423601
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 115.516117 meters
#   Minimum depth: 533.334916 meters looking forward 200.000000 meters along route
#   Maximum depth: 535.431221 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.334916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185022;
longitude = 120.346816;
duration = 462;
initialDepth = 481.825025;
finalDepth = 483.334916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3197799999999
#   Actual altitude:          53.3197799999999
#   Commanded vehicle depth:  483.334916 
#   Seafloor depth:           -534.063692
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.108034 meters
#   Minimum depth: 531.825025 meters looking forward 200.000000 meters along route
#   Maximum depth: 533.741501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.825025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185911;
longitude = 120.347399;
duration = 472;
initialDepth = 471.955285;
finalDepth = 481.825025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.162614
#   Actual altitude:          51.162614
#   Commanded vehicle depth:  481.825025 
#   Seafloor depth:           -532.987639
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 126.290227 meters
#   Minimum depth: 521.955285 meters looking forward 200.000000 meters along route
#   Maximum depth: 532.051479 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.955285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186820;
longitude = 120.347996;
duration = 505;
initialDepth = 468.681650;
finalDepth = 471.955285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.4015879999999
#   Actual altitude:          57.4015879999999
#   Commanded vehicle depth:  471.955285 
#   Seafloor depth:           -529.356873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 109.925428 meters
#   Minimum depth: 518.681650 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.158912 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.681650 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187792;
longitude = 120.348634;
duration = 439;
initialDepth = 468.518643;
finalDepth = 468.681650;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.4015879999999
#   Actual altitude:          57.4015879999999
#   Commanded vehicle depth:  468.68165 
#   Seafloor depth:           -521.565083
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.107622 meters
#   Minimum depth: 518.518643 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.426625 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.518643 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188638;
longitude = 120.349189;
duration = 472;
initialDepth = 469.292465;
finalDepth = 468.518643;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.883433
#   Actual altitude:          52.883433
#   Commanded vehicle depth:  468.518643 
#   Seafloor depth:           -518.518643
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 131.880052 meters
#   Minimum depth: 519.292465 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.073664 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 469.292465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189547;
longitude = 120.349786;
duration = 527;
initialDepth = 470.745995;
finalDepth = 469.292465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.838929
#   Actual altitude:          50.838929
#   Commanded vehicle depth:  469.292465 
#   Seafloor depth:           -520.131394
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 104.334780 meters
#   Minimum depth: 520.745995 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.465726 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.745995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190562;
longitude = 120.350452;
duration = 417;
initialDepth = 471.638462;
finalDepth = 470.745995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.613591
#   Actual altitude:          51.613591
#   Commanded vehicle depth:  470.745995 
#   Seafloor depth:           -522.359586
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.107210 meters
#   Minimum depth: 521.638462 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.540248 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.638462 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191365;
longitude = 120.350979;
duration = 472;
initialDepth = 464.014712;
finalDepth = 471.638462;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.901786
#   Actual altitude:          51.901786
#   Commanded vehicle depth:  471.638462 
#   Seafloor depth:           -523.540248
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.107072 meters
#   Minimum depth: 514.014712 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.819609 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 464.014712 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192274;
longitude = 120.351576;
duration = 472;
initialDepth = 461.913012;
finalDepth = 464.014712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.800533
#   Actual altitude:          53.800533
#   Commanded vehicle depth:  464.014712 
#   Seafloor depth:           -517.815245
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.106936 meters
#   Minimum depth: 511.913012 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.521504 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.913012 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193183;
longitude = 120.352173;
duration = 472;
initialDepth = 463.181060;
finalDepth = 461.913012;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.800533
#   Actual altitude:          53.800533
#   Commanded vehicle depth:  461.913012 
#   Seafloor depth:           -511.913012
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.106798 meters
#   Minimum depth: 513.181060 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.880606 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.181060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194092;
longitude = 120.352769;
duration = 472;
initialDepth = 471.611975;
finalDepth = 463.181060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.955363
#   Actual altitude:          53.955363
#   Commanded vehicle depth:  463.18106 
#   Seafloor depth:           -517.136423
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.106660 meters
#   Minimum depth: 521.611975 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.036492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.611975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195002;
longitude = 120.353366;
duration = 472;
initialDepth = 463.543111;
finalDepth = 471.611975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.955363
#   Actual altitude:          53.955363
#   Commanded vehicle depth:  471.611975 
#   Seafloor depth:           -524.240576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.106524 meters
#   Minimum depth: 513.543111 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.036492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.543111 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195911;
longitude = 120.353962;
duration = 472;
initialDepth = 456.344555;
finalDepth = 463.543111;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.0509820000001
#   Actual altitude:          59.0509820000001
#   Commanded vehicle depth:  463.543111 
#   Seafloor depth:           -522.594093
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.106386 meters
#   Minimum depth: 506.344555 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.022552 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 456.344555 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196820;
longitude = 120.354559;
duration = 472;
initialDepth = 450.041521;
finalDepth = 456.344555;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.0509820000001
#   Actual altitude:          59.0509820000001
#   Commanded vehicle depth:  456.344555 
#   Seafloor depth:           -513.240469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.106248 meters
#   Minimum depth: 500.041521 meters looking forward 200.000000 meters along route
#   Maximum depth: 508.165069 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.041521 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197729;
longitude = 120.355156;
duration = 472;
initialDepth = 429.977978;
finalDepth = 450.041521;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8959139999999
#   Actual altitude:          56.8959139999999
#   Commanded vehicle depth:  450.041521 
#   Seafloor depth:           -504.150555
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 120.520163 meters
#   Minimum depth: 479.977978 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.066672 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 429.977978 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198638;
longitude = 120.355752;
duration = 482;
initialDepth = 422.357783;
finalDepth = 429.977978;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.044564
#   Actual altitude:          63.044564
#   Commanded vehicle depth:  429.977978 
#   Seafloor depth:           -493.022542
# 
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 13
#   Segment length 115.691923 meters
#   Minimum depth: 472.357783 meters looking forward 200.000000 meters along route
#   Maximum depth: 486.060231 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.357783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199566;
longitude = 120.356361;
duration = 462;
initialDepth = 416.128665;
finalDepth = 422.357783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.044564
#   Actual altitude:          63.044564
#   Commanded vehicle depth:  422.357783 
#   Seafloor depth:           -479.732967
# 
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 13
#   Segment length 118.105837 meters
#   Minimum depth: 466.128665 meters looking forward 200.000000 meters along route
#   Maximum depth: 474.996480 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 416.128665 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200456;
longitude = 120.356946;
duration = 472;
initialDepth = 405.289434;
finalDepth = 416.128665;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.375184
#   Actual altitude:          57.375184
#   Commanded vehicle depth:  416.128665 
#   Seafloor depth:           -470.581190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 126.109924 meters
#   Minimum depth: 455.289434 meters looking forward 200.000000 meters along route
#   Maximum depth: 466.491102 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 405.289434 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201365;
longitude = 120.357542;
duration = 504;
initialDepth = 398.567802;
finalDepth = 405.289434;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.361407
#   Actual altitude:          57.361407
#   Commanded vehicle depth:  405.289434 
#   Seafloor depth:           -462.650841
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 110.101338 meters
#   Minimum depth: 448.567802 meters looking forward 200.000000 meters along route
#   Maximum depth: 458.783423 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 398.567802 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.202336;
longitude = 120.358179;
duration = 440;
initialDepth = 389.974450;
finalDepth = 398.567802;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.361407
#   Actual altitude:          57.361407
#   Commanded vehicle depth:  398.567802 
#   Seafloor depth:           -454.834807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 118.105424 meters
#   Minimum depth: 439.974450 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.614480 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 389.974450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.203183;
longitude = 120.358736;
duration = 472;
initialDepth = 380.872336;
finalDepth = 389.974450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.942052
#   Actual altitude:          56.942052
#   Commanded vehicle depth:  389.97445 
#   Seafloor depth:           -446.916502
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 137.096736 meters
#   Minimum depth: 430.872336 meters looking forward 200.000000 meters along route
#   Maximum depth: 440.669980 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 380.872336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.204092;
longitude = 120.359332;
duration = 548;
initialDepth = 379.283975;
finalDepth = 380.872336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.942052
#   Actual altitude:          56.942052
#   Commanded vehicle depth:  380.872336 
#   Seafloor depth:           -437.040757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.47;
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 12
#   Segment length 150.000000 meters
#   Minimum depth: 429.283975 meters looking forward 200.000000 meters along route
#   Maximum depth: 431.375402 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 379.283975 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.205148;
longitude = 120.360025;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 379.283975;
finalDepth = 379.283975;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       56.168421
#   Actual altitude:          56.168421
#   Commanded vehicle depth:  379.283975 
#   Seafloor depth:           -430.167305
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.08;
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 11
#   Segment length 119.893689 meters
#   Minimum depth: 429.283975 meters looking forward 200.000000 meters along route
#   Maximum depth: 435.029603 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 379.283975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.205854;
longitude = 120.358785;
duration = 479;
# abortOnTimeout    = True; 
initialDepth = 380.351123;
finalDepth = 379.283975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.88333
#   Actual altitude:          50.88333
#   Commanded vehicle depth:  379.283975 
#   Seafloor depth:           -429.672150
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 108.904730 meters
#   Minimum depth: 430.351123 meters looking forward 200.000000 meters along route
#   Maximum depth: 442.111314 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 380.351123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.204931;
longitude = 120.358179;
duration = 435;
initialDepth = 389.158976;
finalDepth = 380.351123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.284071
#   Actual altitude:          55.284071
#   Commanded vehicle depth:  380.351123 
#   Seafloor depth:           -435.635194
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.104868 meters
#   Minimum depth: 439.158976 meters looking forward 200.000000 meters along route
#   Maximum depth: 448.981909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 389.158976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.204092;
longitude = 120.357629;
duration = 472;
initialDepth = 397.972587;
finalDepth = 389.158976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.284071
#   Actual altitude:          55.284071
#   Commanded vehicle depth:  389.158976 
#   Seafloor depth:           -443.596703
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 132.899451 meters
#   Minimum depth: 447.972587 meters looking forward 200.000000 meters along route
#   Maximum depth: 459.105571 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 397.972587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.203183;
longitude = 120.357033;
duration = 531;
initialDepth = 404.955216;
finalDepth = 397.972587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.539226
#   Actual altitude:          54.539226
#   Commanded vehicle depth:  397.972587 
#   Seafloor depth:           -452.511813
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 103.310695 meters
#   Minimum depth: 454.955216 meters looking forward 200.000000 meters along route
#   Maximum depth: 466.676909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 404.955216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.202160;
longitude = 120.356361;
duration = 413;
initialDepth = 412.968037;
finalDepth = 404.955216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.058078
#   Actual altitude:          55.058078
#   Commanded vehicle depth:  404.955216 
#   Seafloor depth:           -460.013294
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.105279 meters
#   Minimum depth: 462.968037 meters looking forward 200.000000 meters along route
#   Maximum depth: 476.001681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 412.968037 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201365;
longitude = 120.355839;
duration = 472;
initialDepth = 424.032124;
finalDepth = 412.968037;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.058078
#   Actual altitude:          55.058078
#   Commanded vehicle depth:  412.968037 
#   Seafloor depth:           -467.932220
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.105417 meters
#   Minimum depth: 474.032124 meters looking forward 200.000000 meters along route
#   Maximum depth: 489.118773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 424.032124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200456;
longitude = 120.355243;
duration = 472;
initialDepth = 437.559340;
finalDepth = 424.032124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.014629
#   Actual altitude:          57.014629
#   Commanded vehicle depth:  424.032124 
#   Seafloor depth:           -481.046753
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.105554 meters
#   Minimum depth: 487.559340 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.897720 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 437.559340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199547;
longitude = 120.354646;
duration = 472;
initialDepth = 461.506885;
finalDepth = 437.559340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.134144
#   Actual altitude:          61.134144
#   Commanded vehicle depth:  437.55934 
#   Seafloor depth:           -498.693484
# 
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 11
#   Segment length 118.105691 meters
#   Minimum depth: 511.506885 meters looking forward 200.000000 meters along route
#   Maximum depth: 532.605387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.506885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198638;
longitude = 120.354049;
duration = 472;
initialDepth = 473.939980;
finalDepth = 461.506885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.010883
#   Actual altitude:          63.010883
#   Commanded vehicle depth:  461.506885 
#   Seafloor depth:           -524.517768
# 
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 11
#   Segment length 118.105829 meters
#   Minimum depth: 523.939980 meters looking forward 200.000000 meters along route
#   Maximum depth: 532.605387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 473.939980 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197729;
longitude = 120.353453;
duration = 472;
initialDepth = 472.856496;
finalDepth = 473.939980;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.010883
#   Actual altitude:          63.010883
#   Commanded vehicle depth:  473.93998 
#   Seafloor depth:           -528.494449
# 
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 11
#   Segment length 118.105966 meters
#   Minimum depth: 522.856496 meters looking forward 200.000000 meters along route
#   Maximum depth: 524.377421 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 472.856496 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196820;
longitude = 120.352856;
duration = 472;
initialDepth = 469.178083;
finalDepth = 472.856496;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.554469
#   Actual altitude:          54.554469
#   Commanded vehicle depth:  472.856496 
#   Seafloor depth:           -522.856496
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.106103 meters
#   Minimum depth: 519.178083 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.841251 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 469.178083 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195911;
longitude = 120.352260;
duration = 472;
initialDepth = 463.231521;
finalDepth = 469.178083;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.624915
#   Actual altitude:          54.624915
#   Commanded vehicle depth:  469.178083 
#   Seafloor depth:           -523.802998
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.106241 meters
#   Minimum depth: 513.231521 meters looking forward 200.000000 meters along route
#   Maximum depth: 521.238150 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.231521 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195002;
longitude = 120.351663;
duration = 472;
initialDepth = 461.707156;
finalDepth = 463.231521;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.624915
#   Actual altitude:          54.624915
#   Commanded vehicle depth:  463.231521 
#   Seafloor depth:           -517.082446
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.556443 meters
#   Minimum depth: 511.707156 meters looking forward 200.000000 meters along route
#   Maximum depth: 514.893020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.707156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194092;
longitude = 120.351066;
duration = 486;
initialDepth = 462.624456;
finalDepth = 461.707156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.850925
#   Actual altitude:          53.850925
#   Commanded vehicle depth:  461.707156 
#   Seafloor depth:           -511.707156
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 114.656450 meters
#   Minimum depth: 512.624456 meters looking forward 200.000000 meters along route
#   Maximum depth: 517.618439 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.624456 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193157;
longitude = 120.350452;
duration = 458;
initialDepth = 466.833395;
finalDepth = 462.624456;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.423087
#   Actual altitude:          52.423087
#   Commanded vehicle depth:  462.624456 
#   Seafloor depth:           -515.047543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.106653 meters
#   Minimum depth: 516.833395 meters looking forward 200.000000 meters along route
#   Maximum depth: 517.955949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.833395 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192274;
longitude = 120.349873;
duration = 472;
initialDepth = 464.941985;
finalDepth = 466.833395;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.423087
#   Actual altitude:          52.423087
#   Commanded vehicle depth:  466.833395 
#   Seafloor depth:           -517.955949
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 127.151367 meters
#   Minimum depth: 514.941985 meters looking forward 200.000000 meters along route
#   Maximum depth: 517.862752 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 464.941985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191365;
longitude = 120.349276;
duration = 508;
initialDepth = 463.985943;
finalDepth = 464.941985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.208092
#   Actual altitude:          52.208092
#   Commanded vehicle depth:  464.941985 
#   Seafloor depth:           -517.150077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 109.062350 meters
#   Minimum depth: 513.985943 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.572641 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.985943 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190387;
longitude = 120.348634;
duration = 436;
initialDepth = 463.985943;
finalDepth = 463.985943;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.208092
#   Actual altitude:          52.208092
#   Commanded vehicle depth:  463.985943 
#   Seafloor depth:           -514.771559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.107065 meters
#   Minimum depth: 513.985943 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.937223 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.985943 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189547;
longitude = 120.348083;
duration = 472;
initialDepth = 465.655890;
finalDepth = 463.985943;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.785616
#   Actual altitude:          50.785616
#   Commanded vehicle depth:  463.985943 
#   Seafloor depth:           -514.542606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 132.746330 meters
#   Minimum depth: 515.655890 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.912717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.655890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188638;
longitude = 120.347486;
duration = 530;
initialDepth = 471.546780;
finalDepth = 465.655890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.385308
#   Actual altitude:          53.385308
#   Commanded vehicle depth:  465.65589 
#   Seafloor depth:           -519.041198
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 103.468211 meters
#   Minimum depth: 521.546780 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.973960 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.546780 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187616;
longitude = 120.346816;
duration = 413;
initialDepth = 479.127899;
finalDepth = 471.546780;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.257667
#   Actual altitude:          55.257667
#   Commanded vehicle depth:  471.54678 
#   Seafloor depth:           -526.804447
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.107477 meters
#   Minimum depth: 529.127899 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.363618 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 479.127899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186820;
longitude = 120.346293;
duration = 472;
initialDepth = 480.025843;
finalDepth = 479.127899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.257667
#   Actual altitude:          55.257667
#   Commanded vehicle depth:  479.127899 
#   Seafloor depth:           -530.248733
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.107614 meters
#   Minimum depth: 530.025843 meters looking forward 200.000000 meters along route
#   Maximum depth: 535.789907 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.025843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185911;
longitude = 120.345696;
duration = 472;
initialDepth = 484.857179;
finalDepth = 480.025843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.940378
#   Actual altitude:          51.940378
#   Commanded vehicle depth:  480.025843 
#   Seafloor depth:           -531.966221
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.107751 meters
#   Minimum depth: 534.857179 meters looking forward 200.000000 meters along route
#   Maximum depth: 553.369669 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 484.857179 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185002;
longitude = 120.345100;
duration = 472;
initialDepth = 498.227145;
finalDepth = 484.857179;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.158016
#   Actual altitude:          57.158016
#   Commanded vehicle depth:  484.857179 
#   Seafloor depth:           -542.015195
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.107889 meters
#   Minimum depth: 548.227145 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.879954 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 498.227145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184093;
longitude = 120.344503;
duration = 472;
initialDepth = 509.372098;
finalDepth = 498.227145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.158016
#   Actual altitude:          57.158016
#   Commanded vehicle depth:  498.227145 
#   Seafloor depth:           -554.232487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.108026 meters
#   Minimum depth: 559.372098 meters looking forward 200.000000 meters along route
#   Maximum depth: 569.402194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.372098 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183183;
longitude = 120.343907;
duration = 472;
initialDepth = 518.868112;
finalDepth = 509.372098;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.005342
#   Actual altitude:          56.005342
#   Commanded vehicle depth:  509.372098 
#   Seafloor depth:           -564.051209
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.108164 meters
#   Minimum depth: 568.868112 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.304624 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 518.868112 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182274;
longitude = 120.343310;
duration = 472;
initialDepth = 532.670164;
finalDepth = 518.868112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.104799
#   Actual altitude:          57.104799
#   Commanded vehicle depth:  518.868112 
#   Seafloor depth:           -575.972911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.108301 meters
#   Minimum depth: 582.670164 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.528446 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 532.670164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181365;
longitude = 120.342713;
duration = 472;
initialDepth = 531.802113;
finalDepth = 532.670164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.104799
#   Actual altitude:          57.104799
#   Commanded vehicle depth:  532.670164 
#   Seafloor depth:           -588.528446
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.108438 meters
#   Minimum depth: 581.802113 meters looking forward 200.000000 meters along route
#   Maximum depth: 583.834221 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 531.802113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180456;
longitude = 120.342117;
duration = 472;
initialDepth = 526.978730;
finalDepth = 531.802113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.858282
#   Actual altitude:          55.858282
#   Commanded vehicle depth:  531.802113 
#   Seafloor depth:           -583.192121
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.403110 meters
#   Minimum depth: 576.978730 meters looking forward 200.000000 meters along route
#   Maximum depth: 581.806996 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 526.978730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179547;
longitude = 120.341520;
duration = 485;
initialDepth = 517.561763;
finalDepth = 526.978730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.184407
#   Actual altitude:          54.184407
#   Commanded vehicle depth:  526.97873 
#   Seafloor depth:           -581.163137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 114.814179 meters
#   Minimum depth: 567.561763 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.124364 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 517.561763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178613;
longitude = 120.340907;
duration = 459;
initialDepth = 508.792192;
finalDepth = 517.561763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.1528139999999
#   Actual altitude:          59.1528139999999
#   Commanded vehicle depth:  517.561763 
#   Seafloor depth:           -576.714577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.108850 meters
#   Minimum depth: 558.792192 meters looking forward 200.000000 meters along route
#   Maximum depth: 570.706918 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.792192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177729;
longitude = 120.340327;
duration = 472;
initialDepth = 503.641307;
finalDepth = 508.792192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.1528139999999
#   Actual altitude:          59.1528139999999
#   Commanded vehicle depth:  508.792192 
#   Seafloor depth:           -564.745402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 126.998137 meters
#   Minimum depth: 553.641307 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.181523 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 503.641307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176820;
longitude = 120.339730;
duration = 507;
initialDepth = 503.641307;
finalDepth = 503.641307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.95321
#   Actual altitude:          55.95321
#   Commanded vehicle depth:  503.641307 
#   Seafloor depth:           -555.050529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 109.219976 meters
#   Minimum depth: 553.641307 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.857919 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 503.641307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175842;
longitude = 120.339089;
duration = 436;
initialDepth = 510.104963;
finalDepth = 503.641307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.824355
#   Actual altitude:          52.824355
#   Commanded vehicle depth:  503.641307 
#   Seafloor depth:           -556.465662
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.109263 meters
#   Minimum depth: 560.104963 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.477770 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.104963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175002;
longitude = 120.338537;
duration = 472;
initialDepth = 517.196101;
finalDepth = 510.104963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.223614
#   Actual altitude:          55.223614
#   Commanded vehicle depth:  510.104963 
#   Seafloor depth:           -565.328577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 132.593204 meters
#   Minimum depth: 567.196101 meters looking forward 200.000000 meters along route
#   Maximum depth: 570.106321 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 517.196101 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174093;
longitude = 120.337940;
duration = 530;
initialDepth = 518.568692;
finalDepth = 517.196101;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.223614
#   Actual altitude:          55.223614
#   Commanded vehicle depth:  517.196101 
#   Seafloor depth:           -568.122286
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 103.625734 meters
#   Minimum depth: 568.568692 meters looking forward 200.000000 meters along route
#   Maximum depth: 575.554908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 518.568692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173072;
longitude = 120.337270;
duration = 414;
initialDepth = 522.727117;
finalDepth = 518.568692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.054234
#   Actual altitude:          52.054234
#   Commanded vehicle depth:  518.568692 
#   Seafloor depth:           -570.622926
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.109674 meters
#   Minimum depth: 572.727117 meters looking forward 200.000000 meters along route
#   Maximum depth: 583.928898 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.727117 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172274;
longitude = 120.336747;
duration = 472;
initialDepth = 532.060051;
finalDepth = 522.727117;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.8748049999999
#   Actual altitude:          53.8748049999999
#   Commanded vehicle depth:  522.727117 
#   Seafloor depth:           -576.601922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.109813 meters
#   Minimum depth: 582.060051 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.868108 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 532.060051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171365;
longitude = 120.336150;
duration = 472;
initialDepth = 545.506568;
finalDepth = 532.060051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1828379999999
#   Actual altitude:          57.1828379999999
#   Commanded vehicle depth:  532.060051 
#   Seafloor depth:           -589.242889
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.109949 meters
#   Minimum depth: 595.506568 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.586745 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 545.506568 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170456;
longitude = 120.335554;
duration = 472;
initialDepth = 552.275126;
finalDepth = 545.506568;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1828379999999
#   Actual altitude:          57.1828379999999
#   Commanded vehicle depth:  545.506568 
#   Seafloor depth:           -602.605183
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.110087 meters
#   Minimum depth: 602.275126 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.586745 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.275126 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169547;
longitude = 120.334957;
duration = 472;
initialDepth = 550.958300;
finalDepth = 552.275126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.098615
#   Actual altitude:          57.098615
#   Commanded vehicle depth:  552.275126 
#   Seafloor depth:           -603.310124
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.110225 meters
#   Minimum depth: 600.958300 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.510172 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.958300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168638;
longitude = 120.334360;
duration = 472;
initialDepth = 546.737158;
finalDepth = 550.958300;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.034998
#   Actual altitude:          51.034998
#   Commanded vehicle depth:  550.9583 
#   Seafloor depth:           -601.967833
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.110362 meters
#   Minimum depth: 596.737158 meters looking forward 200.000000 meters along route
#   Maximum depth: 601.041655 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.737158 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167729;
longitude = 120.333764;
duration = 472;
initialDepth = 545.610022;
finalDepth = 546.737158;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7570489999999
#   Actual altitude:          52.7570489999999
#   Commanded vehicle depth:  546.737158 
#   Seafloor depth:           -599.494207
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.110499 meters
#   Minimum depth: 595.610022 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.974117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 545.610022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166820;
longitude = 120.333167;
duration = 472;
initialDepth = 544.527129;
finalDepth = 545.610022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7570489999999
#   Actual altitude:          52.7570489999999
#   Commanded vehicle depth:  545.610022 
#   Seafloor depth:           -596.695060
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.110636 meters
#   Minimum depth: 594.527129 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.894594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.527129 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165911;
longitude = 120.332570;
duration = 472;
initialDepth = 539.382550;
finalDepth = 544.527129;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0850380000001
#   Actual altitude:          51.0850380000001
#   Commanded vehicle depth:  544.527129 
#   Seafloor depth:           -595.296747
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.249771 meters
#   Minimum depth: 589.382550 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.535066 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.382550 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165002;
longitude = 120.331974;
duration = 484;
initialDepth = 539.382550;
finalDepth = 539.382550;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.300067
#   Actual altitude:          53.300067
#   Commanded vehicle depth:  539.38255 
#   Seafloor depth:           -592.682617
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 114.971915 meters
#   Minimum depth: 589.382550 meters looking forward 200.000000 meters along route
#   Maximum depth: 592.892748 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.382550 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164068;
longitude = 120.331361;
duration = 459;
initialDepth = 541.252252;
finalDepth = 539.382550;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.300067
#   Actual altitude:          53.300067
#   Commanded vehicle depth:  539.38255 
#   Seafloor depth:           -589.469444
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.111049 meters
#   Minimum depth: 591.252252 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.300098 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.252252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163183;
longitude = 120.330780;
duration = 472;
initialDepth = 547.001782;
finalDepth = 541.252252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.810471
#   Actual altitude:          52.810471
#   Commanded vehicle depth:  541.252252 
#   Seafloor depth:           -594.062723
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 126.844902 meters
#   Minimum depth: 597.001782 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.686617 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.001782 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162274;
longitude = 120.330184;
duration = 507;
initialDepth = 551.352889;
finalDepth = 547.001782;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.810471
#   Actual altitude:          52.810471
#   Commanded vehicle depth:  547.001782 
#   Seafloor depth:           -599.694409
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 109.377608 meters
#   Minimum depth: 601.352889 meters looking forward 200.000000 meters along route
#   Maximum depth: 609.278136 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 551.352889 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161298;
longitude = 120.329543;
duration = 437;
initialDepth = 557.442365;
finalDepth = 551.352889;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7262919999999
#   Actual altitude:          53.7262919999999
#   Commanded vehicle depth:  551.352889 
#   Seafloor depth:           -605.079181
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 118.111461 meters
#   Minimum depth: 607.442365 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.801855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 557.442365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160456;
longitude = 120.328991;
duration = 472;
initialDepth = 562.370028;
finalDepth = 557.442365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7262919999999
#   Actual altitude:          53.7262919999999
#   Commanded vehicle depth:  557.442365 
#   Seafloor depth:           -610.009333
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 132.440073 meters
#   Minimum depth: 612.370028 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.015156 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.370028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159547;
longitude = 120.328394;
duration = 529;
initialDepth = 563.584329;
finalDepth = 562.370028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.566968
#   Actual altitude:          52.566968
#   Commanded vehicle depth:  562.370028 
#   Seafloor depth:           -613.585963
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 103.783262 meters
#   Minimum depth: 613.584329 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.015156 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 563.584329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158528;
longitude = 120.327725;
duration = 415;
initialDepth = 563.584329;
finalDepth = 563.584329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2159349999999
#   Actual altitude:          51.2159349999999
#   Commanded vehicle depth:  563.584329 
#   Seafloor depth:           -613.606066
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 106.034421 meters
#   Minimum depth: 613.584329 meters looking forward 200.000000 meters along route
#   Maximum depth: 613.878964 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 563.584329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157729;
longitude = 120.327201;
duration = 424;
initialDepth = 563.810434;
finalDepth = 563.584329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.182918
#   Actual altitude:          50.182918
#   Commanded vehicle depth:  563.584329 
#   Seafloor depth:           -613.767247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.09;
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 10
#   Segment length 150.000000 meters
#   Minimum depth: 613.810434 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.561283 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 563.810434 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156913;
longitude = 120.326665;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 564.561283;
finalDepth = 563.810434;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       50.182918
#   Actual altitude:          50.182918
#   Commanded vehicle depth:  563.810434 
#   Seafloor depth:           -613.832458
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.09;
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 9
#   Segment length 191.529843 meters
#   Minimum depth: 614.561283 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.888107 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 564.561283 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157618;
longitude = 120.325425;
duration = 766;
# abortOnTimeout    = True; 
initialDepth = 564.045313;
finalDepth = 564.561283;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.140988
#   Actual altitude:          50.140988
#   Commanded vehicle depth:  564.561283 
#   Seafloor depth:           -614.702271
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.110974 meters
#   Minimum depth: 614.045313 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.888107 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 564.045313 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159093;
longitude = 120.326393;
duration = 472;
initialDepth = 563.651240;
finalDepth = 564.045313;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.698522
#   Actual altitude:          50.698522
#   Commanded vehicle depth:  564.045313 
#   Seafloor depth:           -614.743835
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.110836 meters
#   Minimum depth: 613.651240 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.197754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 563.651240 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160002;
longitude = 120.326990;
duration = 472;
initialDepth = 563.468173;
finalDepth = 563.651240;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.698522
#   Actual altitude:          50.698522
#   Commanded vehicle depth:  563.65124 
#   Seafloor depth:           -613.898417
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.110698 meters
#   Minimum depth: 613.468173 meters looking forward 200.000000 meters along route
#   Maximum depth: 613.745666 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 563.468173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160911;
longitude = 120.327586;
duration = 472;
initialDepth = 562.414745;
finalDepth = 563.468173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.277493
#   Actual altitude:          50.277493
#   Commanded vehicle depth:  563.468173 
#   Seafloor depth:           -613.745666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.110562 meters
#   Minimum depth: 612.414745 meters looking forward 200.000000 meters along route
#   Maximum depth: 613.655835 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.414745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161820;
longitude = 120.328183;
duration = 472;
initialDepth = 559.127395;
finalDepth = 562.414745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.042568
#   Actual altitude:          51.042568
#   Commanded vehicle depth:  562.414745 
#   Seafloor depth:           -613.457313
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.110424 meters
#   Minimum depth: 609.127395 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.794458 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.127395 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162729;
longitude = 120.328779;
duration = 472;
initialDepth = 553.849296;
finalDepth = 559.127395;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.329282
#   Actual altitude:          52.329282
#   Commanded vehicle depth:  559.127395 
#   Seafloor depth:           -611.456677
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 123.039269 meters
#   Minimum depth: 603.849296 meters looking forward 200.000000 meters along route
#   Maximum depth: 609.202422 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.849296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163638;
longitude = 120.329376;
duration = 492;
initialDepth = 552.493289;
finalDepth = 553.849296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.839319
#   Actual altitude:          52.839319
#   Commanded vehicle depth:  553.849296 
#   Seafloor depth:           -606.688615
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 113.181166 meters
#   Minimum depth: 602.493289 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.821495 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.493289 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164585;
longitude = 120.329998;
duration = 452;
initialDepth = 552.493289;
finalDepth = 552.493289;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.839319
#   Actual altitude:          52.839319
#   Commanded vehicle depth:  552.493289 
#   Seafloor depth:           -603.744857
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.110011 meters
#   Minimum depth: 602.493289 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.161936 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.493289 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.330569;
duration = 472;
initialDepth = 553.091561;
finalDepth = 552.493289;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.251568
#   Actual altitude:          51.251568
#   Commanded vehicle depth:  552.493289 
#   Seafloor depth:           -602.525567
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 128.637739 meters
#   Minimum depth: 603.091561 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.711374 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.091561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166365;
longitude = 120.331166;
duration = 514;
initialDepth = 554.242387;
finalDepth = 553.091561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.793575
#   Actual altitude:          50.793575
#   Commanded vehicle depth:  553.091561 
#   Seafloor depth:           -603.885136
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 107.581872 meters
#   Minimum depth: 604.242387 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.711841 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 554.242387 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167355;
longitude = 120.331816;
duration = 430;
initialDepth = 554.006337;
finalDepth = 554.242387;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.793575
#   Actual altitude:          50.793575
#   Commanded vehicle depth:  554.242387 
#   Seafloor depth:           -604.711841
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.109599 meters
#   Minimum depth: 604.006337 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.705009 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 554.006337 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168183;
longitude = 120.332359;
duration = 472;
initialDepth = 552.151299;
finalDepth = 554.006337;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.470341
#   Actual altitude:          50.470341
#   Commanded vehicle depth:  554.006337 
#   Seafloor depth:           -604.476678
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 134.236168 meters
#   Minimum depth: 602.151299 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.191637 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.151299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169093;
longitude = 120.332956;
duration = 536;
initialDepth = 552.094868;
finalDepth = 552.151299;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4688160000001
#   Actual altitude:          51.4688160000001
#   Commanded vehicle depth:  552.151299 
#   Seafloor depth:           -603.620115
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 101.982618 meters
#   Minimum depth: 602.094868 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.279769 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.094868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170126;
longitude = 120.333634;
duration = 407;
initialDepth = 550.049330;
finalDepth = 552.094868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4688160000001
#   Actual altitude:          51.4688160000001
#   Commanded vehicle depth:  552.094868 
#   Seafloor depth:           -602.109251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.109187 meters
#   Minimum depth: 600.049330 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.106727 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.049330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170911;
longitude = 120.334149;
duration = 472;
initialDepth = 540.296644;
finalDepth = 550.049330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0080139999999
#   Actual altitude:          52.0080139999999
#   Commanded vehicle depth:  550.04933 
#   Seafloor depth:           -602.057344
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.109050 meters
#   Minimum depth: 590.296644 meters looking forward 200.000000 meters along route
#   Maximum depth: 600.936712 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 540.296644 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171820;
longitude = 120.334746;
duration = 472;
initialDepth = 520.580863;
finalDepth = 540.296644;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.610691
#   Actual altitude:          56.610691
#   Commanded vehicle depth:  540.296644 
#   Seafloor depth:           -596.907335
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.108912 meters
#   Minimum depth: 570.580863 meters looking forward 200.000000 meters along route
#   Maximum depth: 591.531999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.580863 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172729;
longitude = 120.335342;
duration = 472;
initialDepth = 516.796134;
finalDepth = 520.580863;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.765576
#   Actual altitude:          61.765576
#   Commanded vehicle depth:  520.580863 
#   Seafloor depth:           -582.346439
# 
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 9
#   Segment length 118.108774 meters
#   Minimum depth: 566.796134 meters looking forward 200.000000 meters along route
#   Maximum depth: 575.223530 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.796134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173638;
longitude = 120.335939;
duration = 472;
initialDepth = 515.093369;
finalDepth = 516.796134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.765576
#   Actual altitude:          61.765576
#   Commanded vehicle depth:  516.796134 
#   Seafloor depth:           -570.142772
# 
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 9
#   Segment length 118.108637 meters
#   Minimum depth: 565.093369 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.482391 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 515.093369 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174547;
longitude = 120.336536;
duration = 472;
initialDepth = 513.965071;
finalDepth = 515.093369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.346638
#   Actual altitude:          53.346638
#   Commanded vehicle depth:  515.093369 
#   Seafloor depth:           -566.058266
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.108500 meters
#   Minimum depth: 563.965071 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.146739 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.965071 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175456;
longitude = 120.337132;
duration = 472;
initialDepth = 513.965071;
finalDepth = 513.965071;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.964897
#   Actual altitude:          50.964897
#   Commanded vehicle depth:  513.965071 
#   Seafloor depth:           -563.983885
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.108363 meters
#   Minimum depth: 563.965071 meters looking forward 200.000000 meters along route
#   Maximum depth: 570.410108 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.965071 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176365;
longitude = 120.337729;
duration = 472;
initialDepth = 516.985699;
finalDepth = 513.965071;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.399614
#   Actual altitude:          50.399614
#   Commanded vehicle depth:  513.965071 
#   Seafloor depth:           -564.364685
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.108225 meters
#   Minimum depth: 566.985699 meters looking forward 200.000000 meters along route
#   Maximum depth: 583.575954 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.985699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177274;
longitude = 120.338326;
duration = 472;
initialDepth = 533.168617;
finalDepth = 516.985699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.433391
#   Actual altitude:          56.433391
#   Commanded vehicle depth:  516.985699 
#   Seafloor depth:           -573.419090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 122.903749 meters
#   Minimum depth: 583.168617 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.671369 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.168617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178183;
longitude = 120.338922;
duration = 491;
initialDepth = 555.468516;
finalDepth = 533.168617;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.3159889999999
#   Actual altitude:          61.3159889999999
#   Commanded vehicle depth:  533.168617 
#   Seafloor depth:           -594.484606
# 
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 9
#   Segment length 113.312288 meters
#   Minimum depth: 605.468516 meters looking forward 200.000000 meters along route
#   Maximum depth: 622.062452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 555.468516 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179129;
longitude = 120.339543;
duration = 453;
initialDepth = 570.011073;
finalDepth = 555.468516;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.3159889999999
#   Actual altitude:          61.3159889999999
#   Commanded vehicle depth:  555.468516 
#   Seafloor depth:           -615.131414
# 
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 9
#   Segment length 118.107813 meters
#   Minimum depth: 620.011073 meters looking forward 200.000000 meters along route
#   Maximum depth: 625.489000 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 570.011073 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.340115;
duration = 472;
initialDepth = 575.331021;
finalDepth = 570.011073;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.6628979999999
#   Actual altitude:          59.6628979999999
#   Commanded vehicle depth:  570.011073 
#   Seafloor depth:           -623.279996
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 128.502115 meters
#   Minimum depth: 625.331021 meters looking forward 200.000000 meters along route
#   Maximum depth: 629.308122 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 575.331021 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180911;
longitude = 120.340712;
duration = 514;
initialDepth = 562.042335;
finalDepth = 575.331021;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.268923
#   Actual altitude:          53.268923
#   Commanded vehicle depth:  575.331021 
#   Seafloor depth:           -626.209044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 107.713098 meters
#   Minimum depth: 612.042335 meters looking forward 200.000000 meters along route
#   Maximum depth: 629.308122 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.042335 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181900;
longitude = 120.341361;
duration = 430;
initialDepth = 547.239420;
finalDepth = 562.042335;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.313365
#   Actual altitude:          63.313365
#   Commanded vehicle depth:  562.042335 
#   Seafloor depth:           -625.355700
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.107401 meters
#   Minimum depth: 597.239420 meters looking forward 200.000000 meters along route
#   Maximum depth: 618.888576 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.239420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.341905;
duration = 472;
initialDepth = 525.149293;
finalDepth = 547.239420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.313365
#   Actual altitude:          63.313365
#   Commanded vehicle depth:  547.23942 
#   Seafloor depth:           -608.898841
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 134.100441 meters
#   Minimum depth: 575.149293 meters looking forward 200.000000 meters along route
#   Maximum depth: 599.076405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.149293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183638;
longitude = 120.342502;
duration = 536;
initialDepth = 507.977830;
finalDepth = 525.149293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.9314810000001
#   Actual altitude:          65.9314810000001
#   Commanded vehicle depth:  525.149293 
#   Seafloor depth:           -591.080774
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.113948 meters
#   Minimum depth: 557.977830 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.120281 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.977830 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184670;
longitude = 120.343179;
duration = 408;
initialDepth = 498.955617;
finalDepth = 507.977830;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.9314810000001
#   Actual altitude:          65.9314810000001
#   Commanded vehicle depth:  507.97783 
#   Seafloor depth:           -572.623127
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.106988 meters
#   Minimum depth: 548.955617 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.264840 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 498.955617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.343695;
duration = 472;
initialDepth = 497.052418;
finalDepth = 498.955617;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.6452969999999
#   Actual altitude:          64.6452969999999
#   Commanded vehicle depth:  498.955617 
#   Seafloor depth:           -556.185498
# 
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 9
#   Segment length 118.106851 meters
#   Minimum depth: 547.052418 meters looking forward 200.000000 meters along route
#   Maximum depth: 549.885462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 497.052418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186365;
longitude = 120.344292;
duration = 472;
initialDepth = 494.426383;
finalDepth = 497.052418;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2298810000001
#   Actual altitude:          57.2298810000001
#   Commanded vehicle depth:  497.052418 
#   Seafloor depth:           -547.052418
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.106714 meters
#   Minimum depth: 544.426383 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.504011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 494.426383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187274;
longitude = 120.344889;
duration = 472;
initialDepth = 492.914890;
finalDepth = 494.426383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3810090000001
#   Actual altitude:          52.3810090000001
#   Commanded vehicle depth:  494.426383 
#   Seafloor depth:           -546.807392
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.106576 meters
#   Minimum depth: 542.914890 meters looking forward 200.000000 meters along route
#   Maximum depth: 545.683235 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 492.914890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188183;
longitude = 120.345485;
duration = 472;
initialDepth = 489.482693;
finalDepth = 492.914890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3810090000001
#   Actual altitude:          52.3810090000001
#   Commanded vehicle depth:  492.91489 
#   Seafloor depth:           -544.226473
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.106439 meters
#   Minimum depth: 539.482693 meters looking forward 200.000000 meters along route
#   Maximum depth: 543.301891 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.482693 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189092;
longitude = 120.346082;
duration = 472;
initialDepth = 472.674466;
finalDepth = 489.482693;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.276658
#   Actual altitude:          52.276658
#   Commanded vehicle depth:  489.482693 
#   Seafloor depth:           -541.759351
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.106301 meters
#   Minimum depth: 522.674466 meters looking forward 200.000000 meters along route
#   Maximum depth: 539.706644 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 472.674466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190002;
longitude = 120.346678;
duration = 472;
initialDepth = 463.974695;
finalDepth = 472.674466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.515414
#   Actual altitude:          62.515414
#   Commanded vehicle depth:  472.674466 
#   Seafloor depth:           -535.189880
# 
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 9
#   Segment length 118.106164 meters
#   Minimum depth: 513.974695 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.640355 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.974695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190911;
longitude = 120.347275;
duration = 472;
initialDepth = 463.387660;
finalDepth = 463.974695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.515414
#   Actual altitude:          62.515414
#   Commanded vehicle depth:  463.974695 
#   Seafloor depth:           -522.580337
# 
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 9
#   Segment length 118.106027 meters
#   Minimum depth: 513.387660 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.297972 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.387660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191820;
longitude = 120.347872;
duration = 472;
initialDepth = 464.002638;
finalDepth = 463.387660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.605642
#   Actual altitude:          58.605642
#   Commanded vehicle depth:  463.38766 
#   Seafloor depth:           -513.387660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 122.768235 meters
#   Minimum depth: 514.002638 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.674178 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 464.002638 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192729;
longitude = 120.348468;
duration = 491;
initialDepth = 465.828806;
finalDepth = 464.002638;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8652629999999
#   Actual altitude:          50.8652629999999
#   Commanded vehicle depth:  464.002638 
#   Seafloor depth:           -514.867901
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 113.443406 meters
#   Minimum depth: 515.828806 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.923133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.828806 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193674;
longitude = 120.349089;
duration = 453;
initialDepth = 466.657173;
finalDepth = 465.828806;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.950719
#   Actual altitude:          50.950719
#   Commanded vehicle depth:  465.828806 
#   Seafloor depth:           -516.779525
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.105615 meters
#   Minimum depth: 516.657173 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.923133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.657173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194547;
longitude = 120.349662;
duration = 472;
initialDepth = 466.657173;
finalDepth = 466.657173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.950719
#   Actual altitude:          50.950719
#   Commanded vehicle depth:  466.657173 
#   Seafloor depth:           -516.718795
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 128.366497 meters
#   Minimum depth: 516.657173 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.046908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.657173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195456;
longitude = 120.350258;
duration = 513;
initialDepth = 467.657381;
finalDepth = 466.657173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6861740000001
#   Actual altitude:          50.6861740000001
#   Commanded vehicle depth:  466.657173 
#   Seafloor depth:           -517.343347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 107.844320 meters
#   Minimum depth: 517.657381 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.152680 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.657381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196444;
longitude = 120.350907;
duration = 431;
initialDepth = 470.804341;
finalDepth = 467.657381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.579479
#   Actual altitude:          51.579479
#   Commanded vehicle depth:  467.657381 
#   Seafloor depth:           -519.236860
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.105203 meters
#   Minimum depth: 520.804341 meters looking forward 200.000000 meters along route
#   Maximum depth: 532.807923 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.804341 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197274;
longitude = 120.351451;
duration = 472;
initialDepth = 481.088506;
finalDepth = 470.804341;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.495423
#   Actual altitude:          53.495423
#   Commanded vehicle depth:  470.804341 
#   Seafloor depth:           -524.299764
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 133.964719 meters
#   Minimum depth: 531.088506 meters looking forward 200.000000 meters along route
#   Maximum depth: 538.275333 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.088506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198183;
longitude = 120.352048;
duration = 535;
initialDepth = 466.099029;
finalDepth = 481.088506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.186827
#   Actual altitude:          57.186827
#   Commanded vehicle depth:  481.088506 
#   Seafloor depth:           -538.275333
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.245274 meters
#   Minimum depth: 516.099029 meters looking forward 200.000000 meters along route
#   Maximum depth: 538.255119 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.099029 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199215;
longitude = 120.352725;
duration = 408;
initialDepth = 450.446971;
finalDepth = 466.099029;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.539443
#   Actual altitude:          64.539443
#   Commanded vehicle depth:  466.099029 
#   Seafloor depth:           -530.638472
# 
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 9
#   Segment length 118.104790 meters
#   Minimum depth: 500.446971 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.713316 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.446971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200002;
longitude = 120.353241;
duration = 472;
initialDepth = 432.378631;
finalDepth = 450.446971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.539443
#   Actual altitude:          64.539443
#   Commanded vehicle depth:  450.446971 
#   Seafloor depth:           -513.734348
# 
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 9
#   Segment length 118.104653 meters
#   Minimum depth: 482.378631 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.472056 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 432.378631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200911;
longitude = 120.353838;
duration = 472;
initialDepth = 413.925032;
finalDepth = 432.378631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.2873769999999
#   Actual altitude:          63.2873769999999
#   Commanded vehicle depth:  432.378631 
#   Seafloor depth:           -492.891718
# 
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 9
#   Segment length 118.104516 meters
#   Minimum depth: 463.925032 meters looking forward 200.000000 meters along route
#   Maximum depth: 483.743728 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 413.925032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201820;
longitude = 120.354435;
duration = 472;
initialDepth = 407.335096;
finalDepth = 413.925032;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.114625
#   Actual altitude:          61.114625
#   Commanded vehicle depth:  413.925032 
#   Seafloor depth:           -475.039657
# 
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 9
#   Segment length 118.104379 meters
#   Minimum depth: 457.335096 meters looking forward 200.000000 meters along route
#   Maximum depth: 468.528370 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 407.335096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.202729;
longitude = 120.355031;
duration = 472;
initialDepth = 401.444719;
finalDepth = 407.335096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.114625
#   Actual altitude:          61.114625
#   Commanded vehicle depth:  407.335096 
#   Seafloor depth:           -463.421398
# 
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 9
#   Segment length 118.104241 meters
#   Minimum depth: 451.444719 meters looking forward 200.000000 meters along route
#   Maximum depth: 459.195874 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 401.444719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.203638;
longitude = 120.355628;
duration = 472;
initialDepth = 389.400079;
finalDepth = 401.444719;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.086302
#   Actual altitude:          56.086302
#   Commanded vehicle depth:  401.444719 
#   Seafloor depth:           -454.776117
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 118.104104 meters
#   Minimum depth: 439.400079 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.659265 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 389.400079 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.204547;
longitude = 120.356225;
duration = 472;
initialDepth = 382.019063;
finalDepth = 389.400079;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.401439
#   Actual altitude:          58.401439
#   Commanded vehicle depth:  389.400079 
#   Seafloor depth:           -447.801518
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 143.341910 meters
#   Minimum depth: 432.019063 meters looking forward 200.000000 meters along route
#   Maximum depth: 439.400079 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.019063 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.205456;
longitude = 120.356821;
duration = 573;
initialDepth = 380.763390;
finalDepth = 382.019063;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.401439
#   Actual altitude:          58.401439
#   Commanded vehicle depth:  382.019063 
#   Seafloor depth:           -439.321939
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.20;
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 156.160810 meters
#   Minimum depth: 430.763390 meters looking forward 200.000000 meters along route
#   Maximum depth: 438.371639 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 380.763390 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.206559;
longitude = 120.357545;
duration = 624;
# abortOnTimeout    = True; 
initialDepth = 386.393962;
finalDepth = 380.763390;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.302876
#   Actual altitude:          57.302876
#   Commanded vehicle depth:  380.76339 
#   Seafloor depth:           -430.763390
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 128.666102 meters
#   Minimum depth: 436.393962 meters looking forward 200.000000 meters along route
#   Maximum depth: 448.831836 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 386.393962 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.205456;
longitude = 120.356605;
duration = 514;
initialDepth = 398.831836;
finalDepth = 386.393962;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.071116
#   Actual altitude:          54.071116
#   Commanded vehicle depth:  386.393962 
#   Seafloor depth:           -440.465078
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 138.161732 meters
#   Minimum depth: 448.831836 meters looking forward 200.000000 meters along route
#   Maximum depth: 457.356040 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 398.831836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.204547;
longitude = 120.355830;
duration = 552;
initialDepth = 403.480168;
finalDepth = 398.831836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.071116
#   Actual altitude:          54.071116
#   Commanded vehicle depth:  398.831836 
#   Seafloor depth:           -449.694704
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 119.171148 meters
#   Minimum depth: 453.480168 meters looking forward 200.000000 meters along route
#   Maximum depth: 464.705568 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 403.480168 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.203571;
longitude = 120.354998;
duration = 476;
initialDepth = 412.923082;
finalDepth = 403.480168;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.614803
#   Actual altitude:          54.614803
#   Commanded vehicle depth:  403.480168 
#   Seafloor depth:           -458.094971
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 128.666780 meters
#   Minimum depth: 462.923082 meters looking forward 200.000000 meters along route
#   Maximum depth: 482.823964 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 412.923082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.202729;
longitude = 120.354280;
duration = 514;
initialDepth = 426.755024;
finalDepth = 412.923082;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.123535
#   Actual altitude:          56.123535
#   Commanded vehicle depth:  412.923082 
#   Seafloor depth:           -469.046617
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 129.497604 meters
#   Minimum depth: 476.755024 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.942886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 426.755024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.201820;
longitude = 120.353505;
duration = 517;
initialDepth = 455.942886;
finalDepth = 426.755024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.554867
#   Actual altitude:          59.554867
#   Commanded vehicle depth:  426.755024 
#   Seafloor depth:           -486.309891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 150.934757 meters
#   Minimum depth: 505.942886 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.281126 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.942886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.200905;
longitude = 120.352725;
duration = 603;
initialDepth = 463.043554;
finalDepth = 455.942886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.554867
#   Actual altitude:          59.554867
#   Commanded vehicle depth:  455.942886 
#   Seafloor depth:           -506.048268
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 105.569333 meters
#   Minimum depth: 513.043554 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.415930 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.043554 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199838;
longitude = 120.351816;
duration = 422;
initialDepth = 473.824384;
finalDepth = 463.043554;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3134600000001
#   Actual altitude:          58.3134600000001
#   Commanded vehicle depth:  463.043554 
#   Seafloor depth:           -521.357014
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 120.833386 meters
#   Minimum depth: 523.824384 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.358404 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 473.824384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.199092;
longitude = 120.351180;
duration = 483;
initialDepth = 474.180239;
finalDepth = 473.824384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3134600000001
#   Actual altitude:          58.3134600000001
#   Commanded vehicle depth:  473.824384 
#   Seafloor depth:           -526.528450
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 103.567805 meters
#   Minimum depth: 524.180239 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.358404 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 474.180239 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.198239;
longitude = 120.350452;
duration = 414;
initialDepth = 471.636728;
finalDepth = 474.180239;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       52.704066
#   Actual altitude:          52.704066
#   Commanded vehicle depth:  474.180239 
#   Seafloor depth:           -526.555716
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.35;
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 7
#   Segment length 130.475336 meters
#   Minimum depth: 521.636728 meters looking forward 200.000000 meters along route
#   Maximum depth: 524.275438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.636728 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.197507;
longitude = 120.349828;
duration = 521;
# abortOnTimeout    = True; 
initialDepth = 470.526947;
finalDepth = 471.636728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3754769999999
#   Actual altitude:          52.3754769999999
#   Commanded vehicle depth:  471.636728 
#   Seafloor depth:           -523.810669
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 112.158003 meters
#   Minimum depth: 520.526947 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.478926 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.526947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196893;
longitude = 120.350907;
duration = 448;
initialDepth = 470.863509;
finalDepth = 470.526947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.173941
#   Actual altitude:          52.173941
#   Commanded vehicle depth:  470.526947 
#   Seafloor depth:           -520.601252
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 107.837045 meters
#   Minimum depth: 520.863509 meters looking forward 200.000000 meters along route
#   Maximum depth: 524.797492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.863509 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.196365;
longitude = 120.351834;
duration = 431;
initialDepth = 473.718036;
finalDepth = 470.863509;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.317896
#   Actual altitude:          51.317896
#   Commanded vehicle depth:  470.863509 
#   Seafloor depth:           -522.181405
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 109.998095 meters
#   Minimum depth: 523.718036 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.366930 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 473.718036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195858;
longitude = 120.352725;
duration = 439;
initialDepth = 470.974477;
finalDepth = 473.718036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.317896
#   Actual altitude:          51.317896
#   Commanded vehicle depth:  473.718036 
#   Seafloor depth:           -525.008672
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 109.998476 meters
#   Minimum depth: 520.974477 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.366930 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.974477 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.195340;
longitude = 120.353634;
duration = 439;
initialDepth = 461.520290;
finalDepth = 470.974477;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.921303
#   Actual altitude:          53.921303
#   Commanded vehicle depth:  470.974477 
#   Seafloor depth:           -524.895780
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 109.998856 meters
#   Minimum depth: 511.520290 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.313695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.520290 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194823;
longitude = 120.354543;
duration = 439;
initialDepth = 453.092902;
finalDepth = 461.520290;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.01548
#   Actual altitude:          56.01548
#   Commanded vehicle depth:  461.52029 
#   Seafloor depth:           -517.535770
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 109.999238 meters
#   Minimum depth: 503.092902 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.879593 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 453.092902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.194305;
longitude = 120.355452;
duration = 439;
initialDepth = 450.398670;
finalDepth = 453.092902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.01548
#   Actual altitude:          56.01548
#   Commanded vehicle depth:  453.092902 
#   Seafloor depth:           -506.807220
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 109.999618 meters
#   Minimum depth: 500.398670 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.616160 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.398670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193787;
longitude = 120.356361;
duration = 439;
initialDepth = 441.960597;
finalDepth = 450.398670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.714318
#   Actual altitude:          53.714318
#   Commanded vehicle depth:  450.39867 
#   Seafloor depth:           -501.503834
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 114.920678 meters
#   Minimum depth: 491.960597 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.879822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 441.960597 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.193270;
longitude = 120.357270;
duration = 459;
initialDepth = 435.922452;
finalDepth = 441.960597;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.463695
#   Actual altitude:          56.463695
#   Commanded vehicle depth:  441.960597 
#   Seafloor depth:           -498.424292
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.079702 meters
#   Minimum depth: 485.922452 meters looking forward 200.000000 meters along route
#   Maximum depth: 495.316704 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.922452 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192729;
longitude = 120.358220;
duration = 420;
initialDepth = 434.763454;
finalDepth = 435.922452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.463695
#   Actual altitude:          56.463695
#   Commanded vehicle depth:  435.922452 
#   Seafloor depth:           -491.654358
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 110.000762 meters
#   Minimum depth: 484.763454 meters looking forward 200.000000 meters along route
#   Maximum depth: 488.687649 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 434.763454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.192234;
longitude = 120.359089;
duration = 440;
initialDepth = 434.763454;
finalDepth = 434.763454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.731906
#   Actual altitude:          55.731906
#   Commanded vehicle depth:  434.763454 
#   Seafloor depth:           -485.738598
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 110.001142 meters
#   Minimum depth: 484.763454 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.471414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 434.763454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191717;
longitude = 120.359998;
duration = 440;
initialDepth = 435.208534;
finalDepth = 434.763454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.975144
#   Actual altitude:          50.975144
#   Commanded vehicle depth:  434.763454 
#   Seafloor depth:           -484.874685
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 110.001524 meters
#   Minimum depth: 485.208534 meters looking forward 200.000000 meters along route
#   Maximum depth: 486.719534 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.208534 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.191199;
longitude = 120.360907;
duration = 440;
initialDepth = 434.392164;
finalDepth = 435.208534;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.823302
#   Actual altitude:          50.823302
#   Commanded vehicle depth:  435.208534 
#   Seafloor depth:           -486.031836
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 110.001904 meters
#   Minimum depth: 484.392164 meters looking forward 200.000000 meters along route
#   Maximum depth: 486.719534 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 434.392164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190682;
longitude = 120.361816;
duration = 440;
initialDepth = 430.595553;
finalDepth = 434.392164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.906955
#   Actual altitude:          51.906955
#   Commanded vehicle depth:  434.392164 
#   Seafloor depth:           -486.299119
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 110.002286 meters
#   Minimum depth: 480.595553 meters looking forward 200.000000 meters along route
#   Maximum depth: 484.714189 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 430.595553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.190164;
longitude = 120.362725;
duration = 440;
initialDepth = 430.595553;
finalDepth = 430.595553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.906955
#   Actual altitude:          51.906955
#   Commanded vehicle depth:  430.595553 
#   Seafloor depth:           -481.732121
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 117.683487 meters
#   Minimum depth: 480.595553 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.973654 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 430.595553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189646;
longitude = 120.363634;
duration = 470;
initialDepth = 434.911237;
finalDepth = 430.595553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.185767
#   Actual altitude:          52.185767
#   Commanded vehicle depth:  430.595553 
#   Seafloor depth:           -482.781320
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 102.322228 meters
#   Minimum depth: 484.911237 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.235224 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 434.911237 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.189092;
longitude = 120.364607;
duration = 409;
initialDepth = 460.269665;
finalDepth = 434.911237;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.596139
#   Actual altitude:          66.596139
#   Commanded vehicle depth:  434.911237 
#   Seafloor depth:           -501.507376
# 
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 7
#   Segment length 110.003429 meters
#   Minimum depth: 510.269665 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.594901 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.269665 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188611;
longitude = 120.365452;
duration = 440;
initialDepth = 455.109054;
finalDepth = 460.269665;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.596139
#   Actual altitude:          66.596139
#   Commanded vehicle depth:  460.269665 
#   Seafloor depth:           -516.594901
# 
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 7
#   Segment length 110.003810 meters
#   Minimum depth: 505.109054 meters looking forward 200.000000 meters along route
#   Maximum depth: 514.252985 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.109054 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.188093;
longitude = 120.366361;
duration = 440;
initialDepth = 452.112008;
finalDepth = 455.109054;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3252360000001
#   Actual altitude:          56.3252360000001
#   Commanded vehicle depth:  455.109054 
#   Seafloor depth:           -508.616632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 151.932055 meters
#   Minimum depth: 502.112008 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.109054 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 452.112008 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187576;
longitude = 120.367270;
duration = 607;
initialDepth = 449.130898;
finalDepth = 452.112008;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.507578
#   Actual altitude:          53.507578
#   Commanded vehicle depth:  452.112008 
#   Seafloor depth:           -505.023795
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.75;
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 6
#   Segment length 182.518529 meters
#   Minimum depth: 499.130898 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.057222 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.130898 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186861;
longitude = 120.368526;
duration = 730;
# abortOnTimeout    = True; 
initialDepth = 463.679674;
finalDepth = 449.130898;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.911787
#   Actual altitude:          52.911787
#   Commanded vehicle depth:  449.130898 
#   Seafloor depth:           -499.130898
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 118.120948 meters
#   Minimum depth: 513.679674 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.451773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 463.679674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.367604;
duration = 472;
initialDepth = 466.169055;
finalDepth = 463.679674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.061942
#   Actual altitude:          52.061942
#   Commanded vehicle depth:  463.679674 
#   Seafloor depth:           -515.741616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 127.770842 meters
#   Minimum depth: 516.169055 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.724085 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.169055 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184547;
longitude = 120.367007;
duration = 511;
initialDepth = 464.343403;
finalDepth = 466.169055;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.061942
#   Actual altitude:          52.061942
#   Commanded vehicle depth:  466.169055 
#   Seafloor depth:           -516.467692
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 108.471464 meters
#   Minimum depth: 514.343403 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.724085 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 464.343403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183564;
longitude = 120.366361;
duration = 433;
initialDepth = 461.944417;
finalDepth = 464.343403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7608660000001
#   Actual altitude:          51.7608660000001
#   Commanded vehicle depth:  464.343403 
#   Seafloor depth:           -516.104269
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 118.121360 meters
#   Minimum depth: 511.944417 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.169572 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.944417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.365813;
duration = 472;
initialDepth = 458.517713;
finalDepth = 461.944417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9197560000001
#   Actual altitude:          51.9197560000001
#   Commanded vehicle depth:  461.944417 
#   Seafloor depth:           -513.864173
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 133.243830 meters
#   Minimum depth: 508.517713 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.272152 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.517713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181820;
longitude = 120.365216;
duration = 532;
initialDepth = 458.517713;
finalDepth = 458.517713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.210534
#   Actual altitude:          52.210534
#   Commanded vehicle depth:  458.517713 
#   Seafloor depth:           -510.728247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.999299 meters
#   Minimum depth: 508.517713 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.102897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.517713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180794;
longitude = 120.364543;
duration = 411;
initialDepth = 459.899204;
finalDepth = 458.517713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.210534
#   Actual altitude:          52.210534
#   Commanded vehicle depth:  458.517713 
#   Seafloor depth:           -508.646818
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 118.121770 meters
#   Minimum depth: 509.899204 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.779184 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 459.899204 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.364023;
duration = 472;
initialDepth = 467.278051;
finalDepth = 459.899204;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.021352
#   Actual altitude:          53.021352
#   Commanded vehicle depth:  459.899204 
#   Seafloor depth:           -512.920556
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 138.716856 meters
#   Minimum depth: 517.278051 meters looking forward 200.000000 meters along route
#   Maximum depth: 534.389442 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.278051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179093;
longitude = 120.363426;
duration = 554;
initialDepth = 484.389442;
finalDepth = 467.278051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.149954
#   Actual altitude:          55.149954
#   Commanded vehicle depth:  467.278051 
#   Seafloor depth:           -522.428005
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 123.586334 meters
#   Minimum depth: 534.389442 meters looking forward 200.000000 meters along route
#   Maximum depth: 542.669995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 484.389442 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178025;
longitude = 120.362725;
duration = 494;
initialDepth = 477.603165;
finalDepth = 484.389442;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       55.149954
#   Actual altitude:          55.149954
#   Commanded vehicle depth:  484.389442 
#   Seafloor depth:           -536.670272
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.57;
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 5
#   Segment length 144.451440 meters
#   Minimum depth: 527.603165 meters looking forward 200.000000 meters along route
#   Maximum depth: 542.669995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.603165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177074;
longitude = 120.362100;
duration = 577;
# abortOnTimeout    = True; 
initialDepth = 469.037263;
finalDepth = 477.603165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.612838
#   Actual altitude:          63.612838
#   Commanded vehicle depth:  477.603165 
#   Seafloor depth:           -541.216003
# 
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 5
#   Segment length 110.007372 meters
#   Minimum depth: 519.037263 meters looking forward 200.000000 meters along route
#   Maximum depth: 532.916051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 469.037263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177753;
longitude = 120.360907;
duration = 440;
initialDepth = 461.972642;
finalDepth = 469.037263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.612838
#   Actual altitude:          63.612838
#   Commanded vehicle depth:  469.037263 
#   Seafloor depth:           -527.015755
# 
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 5
#   Segment length 110.006992 meters
#   Minimum depth: 511.972642 meters looking forward 200.000000 meters along route
#   Maximum depth: 521.862532 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.972642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178271;
longitude = 120.359998;
duration = 440;
initialDepth = 455.628564;
finalDepth = 461.972642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.978492
#   Actual altitude:          57.978492
#   Commanded vehicle depth:  461.972642 
#   Seafloor depth:           -517.374438
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.006610 meters
#   Minimum depth: 505.628564 meters looking forward 200.000000 meters along route
#   Maximum depth: 513.452098 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.628564 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.178789;
longitude = 120.359089;
duration = 440;
initialDepth = 450.512674;
finalDepth = 455.628564;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.401796
#   Actual altitude:          55.401796
#   Commanded vehicle depth:  455.628564 
#   Seafloor depth:           -509.936183
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.006230 meters
#   Minimum depth: 500.512674 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.174896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.512674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179306;
longitude = 120.358179;
duration = 440;
initialDepth = 446.962349;
finalDepth = 450.512674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.307619
#   Actual altitude:          54.307619
#   Commanded vehicle depth:  450.512674 
#   Seafloor depth:           -503.140775
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.005849 meters
#   Minimum depth: 496.962349 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.726583 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.962349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179824;
longitude = 120.357270;
duration = 440;
initialDepth = 446.056076;
finalDepth = 446.962349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.628101
#   Actual altitude:          52.628101
#   Commanded vehicle depth:  446.962349 
#   Seafloor depth:           -498.188232
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.005469 meters
#   Minimum depth: 496.056076 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.262432 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.056076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180341;
longitude = 120.356361;
duration = 440;
initialDepth = 446.056076;
finalDepth = 446.056076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.225883
#   Actual altitude:          51.225883
#   Commanded vehicle depth:  446.056076 
#   Seafloor depth:           -496.315997
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.005087 meters
#   Minimum depth: 496.056076 meters looking forward 200.000000 meters along route
#   Maximum depth: 526.637064 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.056076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180859;
longitude = 120.355452;
duration = 440;
initialDepth = 460.927168;
finalDepth = 446.056076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.116683
#   Actual altitude:          54.116683
#   Commanded vehicle depth:  446.056076 
#   Seafloor depth:           -500.172759
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.004707 meters
#   Minimum depth: 510.927168 meters looking forward 200.000000 meters along route
#   Maximum depth: 548.182761 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.927168 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181377;
longitude = 120.354543;
duration = 440;
initialDepth = 490.402840;
finalDepth = 460.927168;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.304074
#   Actual altitude:          66.304074
#   Commanded vehicle depth:  460.927168 
#   Seafloor depth:           -527.231242
# 
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 5
#   Segment length 110.004326 meters
#   Minimum depth: 541.518970 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.579873 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 490.402840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181894;
longitude = 120.353634;
duration = 440;
initialDepth = 507.636592;
finalDepth = 490.402840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.304074
#   Actual altitude:          66.304074
#   Commanded vehicle depth:  490.402839877741 
#   Seafloor depth:           -550.495033
# 
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 5
#   Segment length 110.003945 meters
#   Minimum depth: 557.636592 meters looking forward 200.000000 meters along route
#   Maximum depth: 577.563784 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.636592 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182412;
longitude = 120.352725;
duration = 440;
initialDepth = 525.644635;
finalDepth = 507.636592;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.0921931222595
#   Actual altitude:          60.0921931222595
#   Commanded vehicle depth:  507.636592 
#   Seafloor depth:           -566.034718
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.003565 meters
#   Minimum depth: 575.644635 meters looking forward 200.000000 meters along route
#   Maximum depth: 587.899141 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.644635 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182929;
longitude = 120.351816;
duration = 440;
initialDepth = 536.243353;
finalDepth = 525.644635;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.398126
#   Actual altitude:          58.398126
#   Commanded vehicle depth:  525.644635 
#   Seafloor depth:           -583.575166
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.003184 meters
#   Minimum depth: 586.243353 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.380083 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 536.243353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183447;
longitude = 120.350907;
duration = 440;
initialDepth = 522.533054;
finalDepth = 536.243353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.930531
#   Actual altitude:          57.930531
#   Commanded vehicle depth:  536.243353 
#   Seafloor depth:           -588.380083
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.002803 meters
#   Minimum depth: 572.533054 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.920703 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.533054 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183965;
longitude = 120.349998;
duration = 440;
initialDepth = 493.295978;
finalDepth = 522.533054;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.025017
#   Actual altitude:          59.025017
#   Commanded vehicle depth:  522.533054 
#   Seafloor depth:           -581.558071
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.373477 meters
#   Minimum depth: 543.295978 meters looking forward 200.000000 meters along route
#   Maximum depth: 577.479690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 493.295978 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184482;
longitude = 120.349089;
duration = 441;
initialDepth = 485.310347;
finalDepth = 493.295978;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.767191
#   Actual altitude:          67.767191
#   Commanded vehicle depth:  493.295978 
#   Seafloor depth:           -561.063169
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 109.630988 meters
#   Minimum depth: 535.310347 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.957361 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 485.310347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185002;
longitude = 120.348176;
duration = 438;
initialDepth = 479.562701;
finalDepth = 485.310347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.767191
#   Actual altitude:          67.767191
#   Commanded vehicle depth:  485.310347 
#   Seafloor depth:           -543.257486
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.001661 meters
#   Minimum depth: 529.562701 meters looking forward 200.000000 meters along route
#   Maximum depth: 538.353187 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 479.562701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185517;
longitude = 120.347270;
duration = 440;
initialDepth = 478.799845;
finalDepth = 479.562701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.947139
#   Actual altitude:          57.947139
#   Commanded vehicle depth:  479.562701 
#   Seafloor depth:           -534.368148
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.001281 meters
#   Minimum depth: 528.799845 meters looking forward 200.000000 meters along route
#   Maximum depth: 531.683095 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 478.799845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186035;
longitude = 120.346361;
duration = 440;
initialDepth = 480.404807;
finalDepth = 478.799845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.8054470000001
#   Actual altitude:          54.8054470000001
#   Commanded vehicle depth:  478.799845 
#   Seafloor depth:           -528.799845
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 110.000901 meters
#   Minimum depth: 530.404807 meters looking forward 200.000000 meters along route
#   Maximum depth: 544.007154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.404807 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186553;
longitude = 120.345452;
duration = 440;
initialDepth = 493.814120;
finalDepth = 480.404807;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.168241
#   Actual altitude:          56.168241
#   Commanded vehicle depth:  480.404807 
#   Seafloor depth:           -536.573048
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 137.891787 meters
#   Minimum depth: 543.814120 meters looking forward 200.000000 meters along route
#   Maximum depth: 555.091154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 493.814120 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187070;
longitude = 120.344543;
duration = 551;
initialDepth = 505.949753;
finalDepth = 493.814120;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.168241
#   Actual altitude:          56.168241
#   Commanded vehicle depth:  493.81412 
#   Seafloor depth:           -548.775530
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 175.890028 meters
#   Minimum depth: 555.949753 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.440376 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 505.949753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.187719;
longitude = 120.343403;
duration = 703;
# abortOnTimeout    = True; 
initialDepth = 507.333978;
finalDepth = 505.949753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.96141
#   Actual altitude:          54.96141
#   Commanded vehicle depth:  505.949753 
#   Seafloor depth:           -555.949753
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 118.106403 meters
#   Minimum depth: 557.333978 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.491539 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.333978 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.186365;
longitude = 120.342515;
duration = 472;
initialDepth = 510.795683;
finalDepth = 507.333978;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.390341
#   Actual altitude:          50.390341
#   Commanded vehicle depth:  507.333978 
#   Seafloor depth:           -557.724319
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 118.106541 meters
#   Minimum depth: 560.795683 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.756484 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.795683 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.185456;
longitude = 120.341918;
duration = 472;
initialDepth = 524.269043;
finalDepth = 510.795683;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.853216
#   Actual altitude:          56.853216
#   Commanded vehicle depth:  510.795683 
#   Seafloor depth:           -567.648899
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 118.106678 meters
#   Minimum depth: 574.269043 meters looking forward 200.000000 meters along route
#   Maximum depth: 589.573338 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 524.269043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.184547;
longitude = 120.341322;
duration = 472;
initialDepth = 536.645282;
finalDepth = 524.269043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.853216
#   Actual altitude:          56.853216
#   Commanded vehicle depth:  524.269043 
#   Seafloor depth:           -580.560284
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 118.106816 meters
#   Minimum depth: 586.645282 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.882036 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 536.645282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.183638;
longitude = 120.340725;
duration = 472;
initialDepth = 552.132779;
finalDepth = 536.645282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.347163
#   Actual altitude:          57.347163
#   Commanded vehicle depth:  536.645282 
#   Seafloor depth:           -593.992445
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 118.106953 meters
#   Minimum depth: 602.132779 meters looking forward 200.000000 meters along route
#   Maximum depth: 626.432652 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.132779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.182729;
longitude = 120.340128;
duration = 472;
initialDepth = 571.570046;
finalDepth = 552.132779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.945068
#   Actual altitude:          60.945068
#   Commanded vehicle depth:  552.132779 
#   Seafloor depth:           -613.077847
# 
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 4
#   Segment length 118.107091 meters
#   Minimum depth: 621.570046 meters looking forward 200.000000 meters along route
#   Maximum depth: 631.115138 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 571.570046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.181820;
longitude = 120.339532;
duration = 472;
initialDepth = 579.524905;
finalDepth = 571.570046;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.945068
#   Actual altitude:          60.945068
#   Commanded vehicle depth:  571.570046 
#   Seafloor depth:           -626.618666
# 
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 4
#   Segment length 118.107228 meters
#   Minimum depth: 629.524905 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.481044 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 579.524905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180911;
longitude = 120.338935;
duration = 472;
initialDepth = 580.353276;
finalDepth = 579.524905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0486199999999
#   Actual altitude:          55.0486199999999
#   Commanded vehicle depth:  579.524905 
#   Seafloor depth:           -633.115512
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 121.483493 meters
#   Minimum depth: 630.353276 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.710570 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 580.353276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.180002;
longitude = 120.338339;
duration = 485;
initialDepth = 559.941969;
finalDepth = 580.353276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.590607
#   Actual altitude:          53.590607
#   Commanded vehicle depth:  580.353276 
#   Seafloor depth:           -633.710570
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 147.550001 meters
#   Minimum depth: 609.941969 meters looking forward 200.000000 meters along route
#   Maximum depth: 630.353276 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.941969 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.179067;
longitude = 120.337725;
duration = 590;
initialDepth = 525.269630;
finalDepth = 559.941969;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       69.9391400000001
#   Actual altitude:          69.9391400000001
#   Commanded vehicle depth:  559.941969 
#   Seafloor depth:           -629.881109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 145.193336 meters
#   Minimum depth: 575.269630 meters looking forward 200.000000 meters along route
#   Maximum depth: 609.941969 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 525.269630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177931;
longitude = 120.336980;
duration = 580;
# abortOnTimeout    = True; 
initialDepth = 509.560329;
finalDepth = 525.269630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.0570299999999
#   Actual altitude:          78.0570299999999
#   Commanded vehicle depth:  525.26963 
#   Seafloor depth:           -603.326660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.004468 meters
#   Minimum depth: 559.560329 meters looking forward 200.000000 meters along route
#   Maximum depth: 585.391290 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.560329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.177248;
longitude = 120.338179;
duration = 440;
initialDepth = 502.979883;
finalDepth = 509.560329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.0570299999999
#   Actual altitude:          78.0570299999999
#   Commanded vehicle depth:  509.560329 
#   Seafloor depth:           -574.313755
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.004848 meters
#   Minimum depth: 552.979883 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.107185 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.979883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176730;
longitude = 120.339089;
duration = 440;
initialDepth = 502.979883;
finalDepth = 502.979883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.753426
#   Actual altitude:          64.753426
#   Commanded vehicle depth:  502.979883 
#   Seafloor depth:           -557.687868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.005229 meters
#   Minimum depth: 552.979883 meters looking forward 200.000000 meters along route
#   Maximum depth: 555.411631 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.979883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.176213;
longitude = 120.339998;
duration = 440;
initialDepth = 504.919171;
finalDepth = 502.979883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.707985
#   Actual altitude:          54.707985
#   Commanded vehicle depth:  502.979883 
#   Seafloor depth:           -553.082347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.005609 meters
#   Minimum depth: 554.919171 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.656372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.919171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175695;
longitude = 120.340907;
duration = 440;
initialDepth = 510.482216;
finalDepth = 504.919171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7335
#   Actual altitude:          52.7335
#   Commanded vehicle depth:  504.919171 
#   Seafloor depth:           -557.652671
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.005989 meters
#   Minimum depth: 560.482216 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.413863 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.482216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.175177;
longitude = 120.341816;
duration = 440;
initialDepth = 512.709682;
finalDepth = 510.482216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7335
#   Actual altitude:          52.7335
#   Commanded vehicle depth:  510.482216 
#   Seafloor depth:           -562.542556
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.006370 meters
#   Minimum depth: 562.709682 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.736166 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 512.709682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174660;
longitude = 120.342725;
duration = 440;
initialDepth = 505.732579;
finalDepth = 512.709682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.06034
#   Actual altitude:          52.06034
#   Commanded vehicle depth:  512.709682 
#   Seafloor depth:           -563.736166
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.006749 meters
#   Minimum depth: 555.732579 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.298277 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 505.732579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.174142;
longitude = 120.343634;
duration = 440;
initialDepth = 505.698456;
finalDepth = 505.732579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.619647
#   Actual altitude:          54.619647
#   Commanded vehicle depth:  505.732579 
#   Seafloor depth:           -560.352226
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.007131 meters
#   Minimum depth: 555.698456 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.652388 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 505.698456 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173625;
longitude = 120.344543;
duration = 440;
initialDepth = 505.747212;
finalDepth = 505.698456;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.619647
#   Actual altitude:          54.619647
#   Commanded vehicle depth:  505.698456 
#   Seafloor depth:           -555.698456
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.007511 meters
#   Minimum depth: 555.747212 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.634977 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 505.747212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.173107;
longitude = 120.345452;
duration = 440;
initialDepth = 509.495257;
finalDepth = 505.747212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.365039
#   Actual altitude:          51.365039
#   Commanded vehicle depth:  505.747212 
#   Seafloor depth:           -557.112251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.007891 meters
#   Minimum depth: 559.495257 meters looking forward 200.000000 meters along route
#   Maximum depth: 564.488414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.495257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172589;
longitude = 120.346361;
duration = 440;
initialDepth = 514.129642;
finalDepth = 509.495257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.445698
#   Actual altitude:          52.445698
#   Commanded vehicle depth:  509.495257 
#   Seafloor depth:           -561.940955
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.008271 meters
#   Minimum depth: 564.129642 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.041029 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.129642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.172072;
longitude = 120.347270;
duration = 440;
initialDepth = 514.391970;
finalDepth = 514.129642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.445698
#   Actual altitude:          52.445698
#   Commanded vehicle depth:  514.129642 
#   Seafloor depth:           -564.833071
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.008652 meters
#   Minimum depth: 564.391970 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.041029 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.391970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171554;
longitude = 120.348179;
duration = 440;
initialDepth = 509.972470;
finalDepth = 514.391970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.703429
#   Actual altitude:          50.703429
#   Commanded vehicle depth:  514.39197 
#   Seafloor depth:           -564.914411
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.009033 meters
#   Minimum depth: 559.972470 meters looking forward 200.000000 meters along route
#   Maximum depth: 564.550746 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.972470 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.171037;
longitude = 120.349089;
duration = 440;
initialDepth = 507.520361;
finalDepth = 509.972470;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4834159999999
#   Actual altitude:          52.4834159999999
#   Commanded vehicle depth:  509.97247 
#   Seafloor depth:           -562.455886
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.009413 meters
#   Minimum depth: 557.520361 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.217799 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.520361 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170519;
longitude = 120.349998;
duration = 440;
initialDepth = 507.520361;
finalDepth = 507.520361;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4834159999999
#   Actual altitude:          52.4834159999999
#   Commanded vehicle depth:  507.520361 
#   Seafloor depth:           -557.829578
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.009793 meters
#   Minimum depth: 557.520361 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.975905 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.520361 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.170002;
longitude = 120.350907;
duration = 440;
initialDepth = 517.543221;
finalDepth = 507.520361;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1482130000001
#   Actual altitude:          52.1482130000001
#   Commanded vehicle depth:  507.520361 
#   Seafloor depth:           -559.668574
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.010174 meters
#   Minimum depth: 567.543221 meters looking forward 200.000000 meters along route
#   Maximum depth: 589.056883 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 517.543221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.169484;
longitude = 120.351816;
duration = 440;
initialDepth = 535.691194;
finalDepth = 517.543221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.48407
#   Actual altitude:          59.48407
#   Commanded vehicle depth:  517.543221 
#   Seafloor depth:           -577.027291
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.010555 meters
#   Minimum depth: 585.691194 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.367041 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 535.691194 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168966;
longitude = 120.352725;
duration = 440;
initialDepth = 542.603420;
finalDepth = 535.691194;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.48407
#   Actual altitude:          59.48407
#   Commanded vehicle depth:  535.691194 
#   Seafloor depth:           -591.552503
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 110.010935 meters
#   Minimum depth: 592.603420 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.393012 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 542.603420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.168449;
longitude = 120.353634;
duration = 440;
initialDepth = 542.603420;
finalDepth = 542.603420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.861309
#   Actual altitude:          55.861309
#   Commanded vehicle depth:  542.60342 
#   Seafloor depth:           -593.393012
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 137.085717 meters
#   Minimum depth: 592.603420 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.716540 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 542.603420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167931;
longitude = 120.354543;
duration = 548;
initialDepth = 545.259598;
finalDepth = 542.603420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.789592
#   Actual altitude:          50.789592
#   Commanded vehicle depth:  542.60342 
#   Seafloor depth:           -592.802088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 136.329641 meters
#   Minimum depth: 595.259598 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.303900 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 545.259598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.167286;
longitude = 120.355676;
duration = 545;
# abortOnTimeout    = True; 
initialDepth = 546.873846;
finalDepth = 545.259598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.198668
#   Actual altitude:          50.198668
#   Commanded vehicle depth:  545.259598 
#   Seafloor depth:           -595.259598
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.133535 meters
#   Minimum depth: 596.873846 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.885539 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.873846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.166231;
longitude = 120.354998;
duration = 400;
initialDepth = 548.397548;
finalDepth = 546.873846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.771777
#   Actual altitude:          51.771777
#   Commanded vehicle depth:  546.873846 
#   Seafloor depth:           -598.645623
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 117.457941 meters
#   Minimum depth: 598.397548 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.885539 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 548.397548 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.354499;
duration = 469;
initialDepth = 548.268803;
finalDepth = 548.397548;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.771777
#   Actual altitude:          51.771777
#   Commanded vehicle depth:  548.397548 
#   Seafloor depth:           -598.872491
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 117.458072 meters
#   Minimum depth: 598.268803 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.600202 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 548.268803 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164547;
longitude = 120.353915;
duration = 469;
initialDepth = 548.382541;
finalDepth = 548.268803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4749429999999
#   Actual altitude:          50.4749429999999
#   Commanded vehicle depth:  548.268803 
#   Seafloor depth:           -598.268803
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.756171 meters
#   Minimum depth: 598.382541 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.475736 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 548.382541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163638;
longitude = 120.353331;
duration = 487;
initialDepth = 550.771775;
finalDepth = 548.382541;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.967936
#   Actual altitude:          50.967936
#   Commanded vehicle depth:  548.382541 
#   Seafloor depth:           -599.350477
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 113.160368 meters
#   Minimum depth: 600.771775 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.243851 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.771775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162696;
longitude = 120.352725;
duration = 452;
initialDepth = 553.727203;
finalDepth = 550.771775;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8316219999999
#   Actual altitude:          51.8316219999999
#   Commanded vehicle depth:  550.771775 
#   Seafloor depth:           -602.603397
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 117.458467 meters
#   Minimum depth: 603.727203 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.349403 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.727203 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161820;
longitude = 120.352162;
duration = 469;
initialDepth = 553.278331;
finalDepth = 553.727203;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8316219999999
#   Actual altitude:          51.8316219999999
#   Commanded vehicle depth:  553.727203 
#   Seafloor depth:           -604.349403
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 134.827170 meters
#   Minimum depth: 603.278331 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.307662 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.278331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160911;
longitude = 120.351577;
duration = 539;
initialDepth = 553.278331;
finalDepth = 553.278331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.779459
#   Actual altitude:          50.779459
#   Commanded vehicle depth:  553.278331 
#   Seafloor depth:           -604.057790
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.090157 meters
#   Minimum depth: 603.278331 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.528624 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.278331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159867;
longitude = 120.350907;
duration = 400;
initialDepth = 553.873257;
finalDepth = 553.278331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.779459
#   Actual altitude:          50.779459
#   Commanded vehicle depth:  553.278331 
#   Seafloor depth:           -603.430944
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 117.458860 meters
#   Minimum depth: 603.873257 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.573201 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.873257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159093;
longitude = 120.350409;
duration = 469;
initialDepth = 559.438757;
finalDepth = 553.873257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9350360000001
#   Actual altitude:          51.9350360000001
#   Commanded vehicle depth:  553.873257 
#   Seafloor depth:           -605.808293
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 117.458992 meters
#   Minimum depth: 609.438757 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.290681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.438757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158183;
longitude = 120.349824;
duration = 469;
initialDepth = 565.269423;
finalDepth = 559.438757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.48814
#   Actual altitude:          54.48814
#   Commanded vehicle depth:  559.438757 
#   Seafloor depth:           -613.926897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.801285 meters
#   Minimum depth: 615.269423 meters looking forward 200.000000 meters along route
#   Maximum depth: 616.740501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 565.269423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157274;
longitude = 120.349240;
duration = 487;
initialDepth = 566.740501;
finalDepth = 565.269423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.48814
#   Actual altitude:          54.48814
#   Commanded vehicle depth:  565.269423 
#   Seafloor depth:           -615.758384
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 152.270206 meters
#   Minimum depth: 616.740501 meters looking forward 200.000000 meters along route
#   Maximum depth: 618.300931 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 566.740501 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156332;
longitude = 120.348634;
duration = 609;
initialDepth = 561.487316;
finalDepth = 566.740501;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# Reset sonar parameters 
#   Waypoint type:            4
#   Commanded altitude:       50.488961
#   Actual altitude:          50.488961
#   Commanded vehicle depth:  566.740501 
#   Seafloor depth:           -616.824034
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 127.672209 meters
#   Minimum depth: 611.487316 meters looking forward 200.000000 meters along route
#   Maximum depth: 619.071777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 561.487316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155153;
longitude = 120.347876;
duration = 510;
# abortOnTimeout    = True; 
initialDepth = 550.028960;
finalDepth = 561.487316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.584461
#   Actual altitude:          57.584461
#   Commanded vehicle depth:  561.487316 
#   Seafloor depth:           -619.071777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.432915 meters
#   Minimum depth: 600.028960 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.247289 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.028960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.155745;
longitude = 120.346816;
duration = 437;
initialDepth = 537.163747;
finalDepth = 550.028960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.584461
#   Actual altitude:          57.584461
#   Commanded vehicle depth:  550.02896 
#   Seafloor depth:           -605.948667
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.432540 meters
#   Minimum depth: 587.163747 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.083704 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 537.163747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156253;
longitude = 120.345907;
duration = 437;
initialDepth = 515.342843;
finalDepth = 537.163747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.7137740000001
#   Actual altitude:          56.7137740000001
#   Commanded vehicle depth:  537.163747 
#   Seafloor depth:           -593.877521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 110.952052 meters
#   Minimum depth: 565.342843 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.880887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 515.342843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.156760;
longitude = 120.344998;
duration = 443;
initialDepth = 500.698054;
finalDepth = 515.342843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.684816
#   Actual altitude:          64.684816
#   Commanded vehicle depth:  515.342843 
#   Seafloor depth:           -580.027659
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 107.911900 meters
#   Minimum depth: 550.698054 meters looking forward 200.000000 meters along route
#   Maximum depth: 572.915826 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 500.698054 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157274;
longitude = 120.344076;
duration = 431;
initialDepth = 485.377007;
finalDepth = 500.698054;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.684816
#   Actual altitude:          64.684816
#   Commanded vehicle depth:  500.698054 
#   Seafloor depth:           -565.115217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.431413 meters
#   Minimum depth: 535.377007 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.342322 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 485.377007 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.157775;
longitude = 120.343179;
duration = 437;
initialDepth = 466.390427;
finalDepth = 485.377007;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.4171630000001
#   Actual altitude:          64.4171630000001
#   Commanded vehicle depth:  485.377007 
#   Seafloor depth:           -549.281769
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.431037 meters
#   Minimum depth: 516.390427 meters looking forward 200.000000 meters along route
#   Maximum depth: 541.050301 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.390427 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158282;
longitude = 120.342270;
duration = 437;
initialDepth = 448.597187;
finalDepth = 466.390427;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.929396
#   Actual altitude:          64.929396
#   Commanded vehicle depth:  466.390427 
#   Seafloor depth:           -531.319823
# 
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 1
#   Segment length 109.430662 meters
#   Minimum depth: 498.597187 meters looking forward 200.000000 meters along route
#   Maximum depth: 520.770117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 448.597187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.158789;
longitude = 120.341361;
duration = 437;
initialDepth = 433.328755;
finalDepth = 448.597187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.929396
#   Actual altitude:          64.929396
#   Commanded vehicle depth:  448.597187 
#   Seafloor depth:           -510.669027
# 
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 1
#   Segment length 109.430286 meters
#   Minimum depth: 483.328755 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.595861 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 433.328755 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159297;
longitude = 120.340452;
duration = 437;
initialDepth = 423.419047;
finalDepth = 433.328755;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.07184
#   Actual altitude:          62.07184
#   Commanded vehicle depth:  433.328755 
#   Seafloor depth:           -491.673541
# 
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 1
#   Segment length 109.429911 meters
#   Minimum depth: 473.419047 meters looking forward 200.000000 meters along route
#   Maximum depth: 483.427840 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 423.419047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.159804;
longitude = 120.339543;
duration = 437;
initialDepth = 423.419047;
finalDepth = 423.419047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.344786
#   Actual altitude:          58.344786
#   Commanded vehicle depth:  423.419047 
#   Seafloor depth:           -477.168756
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.429535 meters
#   Minimum depth: 473.419047 meters looking forward 200.000000 meters along route
#   Maximum depth: 479.259380 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 423.419047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160312;
longitude = 120.338634;
duration = 437;
initialDepth = 426.791073;
finalDepth = 423.419047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.749709
#   Actual altitude:          53.749709
#   Commanded vehicle depth:  423.419047 
#   Seafloor depth:           -474.307736
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 117.788316 meters
#   Minimum depth: 476.791073 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.035747 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 426.791073 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.160819;
longitude = 120.337725;
duration = 471;
initialDepth = 439.660981;
finalDepth = 426.791073;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.89451
#   Actual altitude:          59.89451
#   Commanded vehicle depth:  426.791073 
#   Seafloor depth:           -486.685583
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.069628 meters
#   Minimum depth: 489.660981 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.216576 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 439.660981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161365;
longitude = 120.336746;
duration = 404;
initialDepth = 461.252002;
finalDepth = 439.660981;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.580803
#   Actual altitude:          64.580803
#   Commanded vehicle depth:  439.660981 
#   Seafloor depth:           -504.241784
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.428409 meters
#   Minimum depth: 511.252002 meters looking forward 200.000000 meters along route
#   Maximum depth: 533.157085 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.252002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.161834;
longitude = 120.335907;
duration = 437;
initialDepth = 477.743279;
finalDepth = 461.252002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.580803
#   Actual altitude:          64.580803
#   Commanded vehicle depth:  461.252002 
#   Seafloor depth:           -519.705054
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.428034 meters
#   Minimum depth: 527.743279 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.854860 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.743279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162341;
longitude = 120.334998;
duration = 437;
initialDepth = 493.385535;
finalDepth = 477.743279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.453052
#   Actual altitude:          58.453052
#   Commanded vehicle depth:  477.743279 
#   Seafloor depth:           -535.124340
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.427658 meters
#   Minimum depth: 543.385535 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.686693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 493.385535 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.162849;
longitude = 120.334089;
duration = 437;
initialDepth = 509.416999;
finalDepth = 493.385535;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3741679999999
#   Actual altitude:          58.3741679999999
#   Commanded vehicle depth:  493.385535 
#   Seafloor depth:           -551.759703
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.427283 meters
#   Minimum depth: 559.416999 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.124254 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.416999 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163356;
longitude = 120.333179;
duration = 437;
initialDepth = 523.458207;
finalDepth = 509.416999;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3741679999999
#   Actual altitude:          58.3741679999999
#   Commanded vehicle depth:  509.416999 
#   Seafloor depth:           -566.783526
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.426908 meters
#   Minimum depth: 573.458207 meters looking forward 200.000000 meters along route
#   Maximum depth: 585.323783 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.458207 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.163863;
longitude = 120.332270;
duration = 437;
initialDepth = 534.638618;
finalDepth = 523.458207;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.366527
#   Actual altitude:          57.366527
#   Commanded vehicle depth:  523.458207 
#   Seafloor depth:           -579.787807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.426532 meters
#   Minimum depth: 584.638618 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.920209 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.638618 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164371;
longitude = 120.331361;
duration = 437;
initialDepth = 545.538522;
finalDepth = 534.638618;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.100052
#   Actual altitude:          57.100052
#   Commanded vehicle depth:  534.638618 
#   Seafloor depth:           -591.738670
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 124.624205 meters
#   Minimum depth: 595.538522 meters looking forward 200.000000 meters along route
#   Maximum depth: 608.141793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 545.538522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.164878;
longitude = 120.330452;
duration = 498;
initialDepth = 558.141793;
finalDepth = 545.538522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.100052
#   Actual altitude:          57.100052
#   Commanded vehicle depth:  545.538522 
#   Seafloor depth:           -601.144364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 130.702911 meters
#   Minimum depth: 608.141793 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.077259 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 636.001994 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 558.141793 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 22.165456;
longitude = 120.329417;
duration = 522;
initialDepth = 558.141793;
finalDepth = 558.141793;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.6058420000001
#   Actual altitude:          55.6058420000001
#   Commanded vehicle depth:  558.141793 
#   Seafloor depth:           -608.717885
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.8926719999999
#   Sonar parameter altitude: 52.8926719999999
#   Commanded vehicle depth:  558.141793 
#   Seafloor depth:           -611.034465
# 
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 = 28;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.001000;
MB_Bottom_Detect_Filter_Min_Range = 26.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint behavior to get back to start of line 1
#   Segment length 130.702911 meters
#   Minimum depth: 608.141793 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.077259 meters looking forward 200.000000 meters along route
#   Vehicle depth: 558.141793 meters
behavior waypoint
{
latitude = 22.166062;
longitude = 120.328331;
duration = 1116;
depth = 558.141793;
speed = 1.500000;
}
# 
# Zero speed hang to allow final nav updates over acoustic modem
# - must get start survey command over acoustic modem or mission aborts
behavior StartSurvey
{
duration = 300;
}
# 
# Acoustic update 4 - sent status ping at beginning of StartSurvey behavior 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Spiral descend behavior to get to proper depth at start of line 1 
#   Behavior depth of 558.141793 meters set by local depth and desired altitude
behavior descend
{
duration = 2187;
horizontalMode = rudder;
horizontal = 2.000000;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 551.034465;
minAltitude = 50.000000;
}
# 
# Acoustic update 5 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Waypoint behavior to get to start of line 1
#   Segment length 130.702911 meters
#   Minimum depth: 608.141793 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.077259 meters looking forward 200.000000 meters along route
#   Vehicle depth: 50.000000 meters
behavior waypoint
{
latitude = 22.166062;
longitude = 120.328331;
duration = 2000;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 151.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 151.0;
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 = 28;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.001000;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
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;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
