

# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <deitz> at <Fri Feb 22 08:36:54 PST 2013>
# 
# Mission Summary:
#     Route File:               201210_WallTest_1v2.rte
#     Mission File:             201210_WallTest_1v2.cfg
#     Distance:                 10501.484285 (m)
#     Estimated Time:           8865 (s)  2.463 (hr)
#     Abort Time:               11525 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1177 (s)
#     Way Points:               26
#     Route Points:             100
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control 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: 25 (m)
#     Abort Vehicle Altitude 1:   12 (m)
#     Delta Depth Restart 1:      13 (m)
#     Desired Vehicle Altitude 1: 25 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 75 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      982.148671 (m)
#     Abort Vehicle Depth:        994.648671 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   100 (m)
#     Waypoint Spacing:           100 (m)
#     GPS Duration:               600 (s)
#     Descend Rate:               0.417 (m/s)
#     Ascend Rate:                1 (m/s)
#     Initial descend Duration:   300 (s)
#     Setpoint Duration:          30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.969798 36.800379 -100.014852 0.000000 3
#   1 -121.984601 36.775992 -790.414108 3010.676223 1
#   2 -121.987772 36.773956 -932.064535 3372.815061 3
#   3 -121.992553 36.773648 -931.229797 3800.850886 1
#   4 -121.999758 36.773798 -966.801712 4444.096977 1
#   5 -122.003192 36.774099 -977.229477 4752.386734 1
#   6 -122.005133 36.774429 -984.006149 4929.441668 1
#   7 -122.007261 36.775150 -989.483429 5135.515115 1
#   8 -122.010919 36.777524 -994.986343 5554.965086 3
#   9 -122.008269 36.778756 -983.897705 5828.112636 1
#   10 -121.996174 36.779657 -812.080643 6912.105706 1
#   11 -121.994718 36.778576 -830.279938 7088.926564 1
#   12 -121.993262 36.777584 -836.892670 7259.206768 1
#   13 -121.991209 36.777254 -843.043045 7446.045868 1
#   14 -121.989454 36.776953 -858.530563 7606.189387 1
#   15 -121.987630 36.775926 -899.300456 7804.855013 1
#   16 -121.987630 36.774719 -930.432617 7938.826629 5
#   17 -121.989677 36.773829 -931.357340 8146.438475 1
#   18 -121.992553 36.773648 -931.229797 8403.887361 1
#   19 -121.996248 36.773738 -951.224960 8733.809550 1
#   20 -121.999758 36.773798 -966.801712 9047.139939 1
#   21 -122.003192 36.774099 -977.229477 9355.429696 1
#   22 -122.005133 36.774429 -984.006149 9532.484630 1
#   23 -122.007261 36.775150 -989.483429 9738.558077 1
#   24 -122.010919 36.777524 -994.986343 10158.008048 1
#   25 -122.008047 36.779585 -981.326742 10501.484285 6
# 
# A total of 100 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 11525;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 982.148671;
abortDepth = 994.648671;
minAltitude = 25.000000;
abortAltitude = 12.000000;
deltaDepthRestart = 13.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 1177;
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;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   Segment length 141.152917 meters
#   Minimum depth: 981.326742 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.533637 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 931.326742 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779585;
longitude = -122.008047;
duration = 282;
# abortOnTimeout    = True; 
initialDepth = 944.368750;
finalDepth = 931.326742;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 101.845021 meters
#   Minimum depth: 994.368750 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.996148 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.368750 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778738;
longitude = -122.009227;
duration = 203;
initialDepth = 944.662604;
finalDepth = 944.368750;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.478299 meters
#   Minimum depth: 994.662604 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.080258 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.662604 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778127;
longitude = -122.010079;
duration = 200;
initialDepth = 943.904752;
finalDepth = 944.662604;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   Segment length 116.899576 meters
#   Minimum depth: 993.904752 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.192277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 943.904752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777524;
longitude = -122.010919;
duration = 233;
# abortOnTimeout    = True; 
initialDepth = 919.088397;
finalDepth = 943.904752;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 100.222388 meters
#   Minimum depth: 969.088397 meters looking forward 100.000000 meters along route
#   Maximum depth: 996.133859 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 919.088397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776862;
longitude = -122.009900;
duration = 200;
initialDepth = 942.863557;
finalDepth = 919.088397;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 100.222849 meters
#   Minimum depth: 992.863557 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.910101 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 942.863557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776295;
longitude = -122.009025;
duration = 200;
initialDepth = 939.478137;
finalDepth = 942.863557;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.105158 meters
#   Minimum depth: 989.478137 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.234719 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 939.478137 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775728;
longitude = -122.008151;
duration = 204;
initialDepth = 937.617299;
finalDepth = 939.478137;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 104.754043 meters
#   Minimum depth: 987.617299 meters looking forward 100.000000 meters along route
#   Maximum depth: 990.196532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 937.617299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775150;
longitude = -122.007261;
duration = 209;
# abortOnTimeout    = True; 
initialDepth = 934.097111;
finalDepth = 937.617299;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 101.319404 meters
#   Minimum depth: 984.097111 meters looking forward 100.000000 meters along route
#   Maximum depth: 987.441722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 934.097111 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774783;
longitude = -122.006179;
duration = 202;
initialDepth = 931.290082;
finalDepth = 934.097111;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 76.283508 meters
#   Minimum depth: 981.290082 meters looking forward 100.000000 meters along route
#   Maximum depth: 986.042205 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 931.290082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774429;
longitude = -122.005133;
duration = 152;
# abortOnTimeout    = True; 
initialDepth = 926.960981;
finalDepth = 931.290082;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 100.771426 meters
#   Minimum depth: 976.960981 meters looking forward 100.000000 meters along route
#   Maximum depth: 981.561153 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 926.960981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774287;
longitude = -122.004297;
duration = 201;
initialDepth = 918.918987;
finalDepth = 926.960981;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 106.044115 meters
#   Minimum depth: 968.918987 meters looking forward 100.000000 meters along route
#   Maximum depth: 977.731936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 918.918987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774099;
longitude = -122.003192;
duration = 212;
# abortOnTimeout    = True; 
initialDepth = 916.905085;
finalDepth = 918.918987;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 100.598927 meters
#   Minimum depth: 966.905085 meters looking forward 100.000000 meters along route
#   Maximum depth: 973.581677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 916.905085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773995;
longitude = -122.002011;
duration = 201;
initialDepth = 916.845026;
finalDepth = 916.905085;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.646715 meters
#   Minimum depth: 966.845026 meters looking forward 100.000000 meters along route
#   Maximum depth: 969.634313 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 916.845026 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773897;
longitude = -122.000890;
duration = 203;
initialDepth = 912.764822;
finalDepth = 916.845026;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 112.992346 meters
#   Minimum depth: 962.764822 meters looking forward 100.000000 meters along route
#   Maximum depth: 966.801712 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 912.764822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773798;
longitude = -121.999758;
duration = 225;
# abortOnTimeout    = True; 
initialDepth = 909.249234;
finalDepth = 912.764822;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 100.029925 meters
#   Minimum depth: 959.249234 meters looking forward 100.000000 meters along route
#   Maximum depth: 962.676962 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 909.249234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773776;
longitude = -121.998492;
duration = 200;
initialDepth = 897.035329;
finalDepth = 909.249234;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 100.308118 meters
#   Minimum depth: 947.035329 meters looking forward 100.000000 meters along route
#   Maximum depth: 959.163523 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 897.035329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773757;
longitude = -121.997372;
duration = 200;
initialDepth = 896.825528;
finalDepth = 897.035329;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 129.791062 meters
#   Minimum depth: 946.825528 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.466989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 896.825528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773738;
longitude = -121.996248;
duration = 259;
# abortOnTimeout    = True; 
initialDepth = 898.318498;
finalDepth = 896.825528;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.053352 meters
#   Minimum depth: 948.318498 meters looking forward 100.000000 meters along route
#   Maximum depth: 957.356484 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 898.318498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773703;
longitude = -121.994794;
duration = 200;
initialDepth = 881.012617;
finalDepth = 898.318498;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.077775 meters
#   Minimum depth: 931.012617 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.215266 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 881.012617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773675;
longitude = -121.993674;
duration = 200;
initialDepth = 870.258819;
finalDepth = 881.012617;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 156.465900 meters
#   Minimum depth: 920.258819 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.957833 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 870.258819 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773648;
longitude = -121.992553;
duration = 312;
# abortOnTimeout    = True; 
initialDepth = 878.566631;
finalDepth = 870.258819;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.982986 meters
#   Minimum depth: 928.566631 meters looking forward 100.000000 meters along route
#   Maximum depth: 931.238573 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 878.566631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773758;
longitude = -121.990805;
duration = 201;
initialDepth = 881.357340;
finalDepth = 878.566631;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 106.079266 meters
#   Minimum depth: 931.357340 meters looking forward 100.000000 meters along route
#   Maximum depth: 938.825317 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 881.357340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773829;
longitude = -121.989677;
duration = 212;
# abortOnTimeout    = True; 
initialDepth = 880.716032;
finalDepth = 881.357340;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.532580 meters
#   Minimum depth: 930.716032 meters looking forward 100.000000 meters along route
#   Maximum depth: 938.948514 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 880.716032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774284;
longitude = -121.988631;
duration = 203;
initialDepth = 849.916972;
finalDepth = 880.716032;
speed = 1.500000;
}
# 
# 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 133.971616 meters
#   Minimum depth: 899.916972 meters looking forward 100.000000 meters along route
#   Maximum depth: 930.432617 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 849.916972 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774719;
longitude = -121.987630;
duration = 267;
# abortOnTimeout    = True; 
initialDepth = 858.021393;
finalDepth = 849.916972;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 96.840549 meters
#   Minimum depth: 883.021393 meters looking forward 100.000000 meters along route
#   Maximum depth: 899.916972 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 858.021393 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775926;
longitude = -121.987630;
duration = 193;
# abortOnTimeout    = True; 
initialDepth = 834.011963;
finalDepth = 858.021393;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.825077 meters
#   Minimum depth: 859.011963 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.571510 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 834.011963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776427;
longitude = -121.988519;
duration = 203;
initialDepth = 809.072541;
finalDepth = 834.011963;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 160.143519 meters
#   Minimum depth: 834.072541 meters looking forward 100.000000 meters along route
#   Maximum depth: 858.530563 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 809.072541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776953;
longitude = -121.989454;
duration = 320;
# abortOnTimeout    = True; 
initialDepth = 816.720029;
finalDepth = 809.072541;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 85.626818 meters
#   Minimum depth: 841.720029 meters looking forward 100.000000 meters along route
#   Maximum depth: 852.592966 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 816.720029 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777254;
longitude = -121.991209;
duration = 171;
# abortOnTimeout    = True; 
initialDepth = 811.586626;
finalDepth = 816.720029;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.212282 meters
#   Minimum depth: 836.586626 meters looking forward 100.000000 meters along route
#   Maximum depth: 847.994345 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 811.586626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777405;
longitude = -121.992150;
duration = 202;
initialDepth = 805.485408;
finalDepth = 811.586626;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 170.280204 meters
#   Minimum depth: 830.485408 meters looking forward 100.000000 meters along route
#   Maximum depth: 836.892670 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 805.485408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777584;
longitude = -121.993262;
duration = 340;
# abortOnTimeout    = True; 
initialDepth = 787.188791;
finalDepth = 805.485408;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 176.820858 meters
#   Minimum depth: 812.188791 meters looking forward 100.000000 meters along route
#   Maximum depth: 830.279938 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 787.188791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778576;
longitude = -121.994718;
duration = 353;
# abortOnTimeout    = True; 
initialDepth = 787.080643;
finalDepth = 787.188791;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 79.420467 meters
#   Minimum depth: 812.080643 meters looking forward 100.000000 meters along route
#   Maximum depth: 831.729361 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 787.080643 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779657;
longitude = -121.996174;
duration = 158;
# abortOnTimeout    = True; 
initialDepth = 806.777305;
finalDepth = 787.080643;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.226512 meters
#   Minimum depth: 831.777305 meters looking forward 100.000000 meters along route
#   Maximum depth: 850.694743 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 806.777305 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779591;
longitude = -121.997060;
duration = 200;
initialDepth = 820.457724;
finalDepth = 806.777305;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.427813 meters
#   Minimum depth: 845.457724 meters looking forward 100.000000 meters along route
#   Maximum depth: 852.060136 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 820.457724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779508;
longitude = -121.998178;
duration = 200;
initialDepth = 818.495743;
finalDepth = 820.457724;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.427899 meters
#   Minimum depth: 843.495743 meters looking forward 100.000000 meters along route
#   Maximum depth: 848.815672 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 818.495743 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779424;
longitude = -121.999299;
duration = 200;
initialDepth = 824.195546;
finalDepth = 818.495743;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.427985 meters
#   Minimum depth: 849.195546 meters looking forward 100.000000 meters along route
#   Maximum depth: 882.058683 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 824.195546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779341;
longitude = -122.000420;
duration = 200;
initialDepth = 857.501471;
finalDepth = 824.195546;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.428071 meters
#   Minimum depth: 882.501471 meters looking forward 100.000000 meters along route
#   Maximum depth: 902.457125 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 857.501471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779257;
longitude = -122.001540;
duration = 200;
initialDepth = 877.849616;
finalDepth = 857.501471;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.428157 meters
#   Minimum depth: 902.849616 meters looking forward 100.000000 meters along route
#   Maximum depth: 918.650696 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 877.849616 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779174;
longitude = -122.002661;
duration = 200;
initialDepth = 893.884131;
finalDepth = 877.849616;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.428243 meters
#   Minimum depth: 918.884131 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.666797 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 893.884131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779090;
longitude = -122.003781;
duration = 200;
initialDepth = 902.217986;
finalDepth = 893.884131;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.428328 meters
#   Minimum depth: 927.217986 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.813831 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 902.217986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779007;
longitude = -122.004902;
duration = 200;
initialDepth = 916.961578;
finalDepth = 902.217986;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.428415 meters
#   Minimum depth: 941.961578 meters looking forward 100.000000 meters along route
#   Maximum depth: 960.269615 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 916.961578 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778923;
longitude = -122.006022;
duration = 200;
initialDepth = 935.695893;
finalDepth = 916.961578;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.921180 meters
#   Minimum depth: 960.695893 meters looking forward 100.000000 meters along route
#   Maximum depth: 983.737592 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 935.695893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778840;
longitude = -122.007143;
duration = 201;
initialDepth = 958.897705;
finalDepth = 935.695893;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 172.684603 meters
#   Minimum depth: 983.897705 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.277640 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 958.897705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778756;
longitude = -122.008269;
duration = 345;
# abortOnTimeout    = True; 
initialDepth = 969.648671;
finalDepth = 958.897705;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.462947 meters
#   Minimum depth: 994.648671 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.375567 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 969.648671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777977;
longitude = -122.009944;
duration = 200;
initialDepth = 968.904752;
finalDepth = 969.648671;
speed = 1.500000;
}
# 
# 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 116.899576 meters
#   Minimum depth: 993.904752 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.192277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 968.904752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777524;
longitude = -122.010919;
duration = 233;
# abortOnTimeout    = True; 
initialDepth = 944.088397;
finalDepth = 968.904752;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 100.222388 meters
#   Minimum depth: 969.088397 meters looking forward 100.000000 meters along route
#   Maximum depth: 996.133859 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.088397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776862;
longitude = -122.009900;
duration = 200;
initialDepth = 967.863557;
finalDepth = 944.088397;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 100.222849 meters
#   Minimum depth: 992.863557 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.910101 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 967.863557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776295;
longitude = -122.009025;
duration = 200;
initialDepth = 964.478137;
finalDepth = 967.863557;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 102.105158 meters
#   Minimum depth: 989.478137 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.234719 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 964.478137 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775728;
longitude = -122.008151;
duration = 204;
initialDepth = 962.617299;
finalDepth = 964.478137;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 104.754043 meters
#   Minimum depth: 987.617299 meters looking forward 100.000000 meters along route
#   Maximum depth: 990.196532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 962.617299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775150;
longitude = -122.007261;
duration = 209;
# abortOnTimeout    = True; 
initialDepth = 959.097111;
finalDepth = 962.617299;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.319404 meters
#   Minimum depth: 984.097111 meters looking forward 100.000000 meters along route
#   Maximum depth: 987.441722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 959.097111 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774783;
longitude = -122.006179;
duration = 202;
initialDepth = 956.290082;
finalDepth = 959.097111;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 76.283508 meters
#   Minimum depth: 981.290082 meters looking forward 100.000000 meters along route
#   Maximum depth: 986.042205 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 956.290082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774429;
longitude = -122.005133;
duration = 152;
# abortOnTimeout    = True; 
initialDepth = 951.960981;
finalDepth = 956.290082;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 100.771426 meters
#   Minimum depth: 976.960981 meters looking forward 100.000000 meters along route
#   Maximum depth: 981.561153 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 951.960981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774287;
longitude = -122.004297;
duration = 201;
initialDepth = 943.918987;
finalDepth = 951.960981;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 106.044115 meters
#   Minimum depth: 968.918987 meters looking forward 100.000000 meters along route
#   Maximum depth: 977.731936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 943.918987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774099;
longitude = -122.003192;
duration = 212;
# abortOnTimeout    = True; 
initialDepth = 941.905085;
finalDepth = 943.918987;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.598927 meters
#   Minimum depth: 966.905085 meters looking forward 100.000000 meters along route
#   Maximum depth: 973.581677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 941.905085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773995;
longitude = -122.002011;
duration = 201;
initialDepth = 941.845026;
finalDepth = 941.905085;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.646715 meters
#   Minimum depth: 966.845026 meters looking forward 100.000000 meters along route
#   Maximum depth: 969.634313 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 941.845026 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773897;
longitude = -122.000890;
duration = 203;
initialDepth = 936.921280;
finalDepth = 941.845026;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 143.016918 meters
#   Minimum depth: 961.921280 meters looking forward 100.000000 meters along route
#   Maximum depth: 966.801712 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 936.921280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773798;
longitude = -121.999758;
duration = 286;
# abortOnTimeout    = True; 
initialDepth = 929.962610;
finalDepth = 936.921280;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.040858 meters
#   Minimum depth: 954.962610 meters looking forward 100.000000 meters along route
#   Maximum depth: 961.721254 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 929.962610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773765;
longitude = -121.998156;
duration = 200;
initialDepth = 920.118123;
finalDepth = 929.962610;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.040910 meters
#   Minimum depth: 945.118123 meters looking forward 100.000000 meters along route
#   Maximum depth: 955.473464 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 920.118123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773741;
longitude = -121.997036;
duration = 200;
initialDepth = 920.912497;
finalDepth = 920.118123;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.040962 meters
#   Minimum depth: 945.912497 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.018826 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 920.912497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773718;
longitude = -121.995915;
duration = 200;
initialDepth = 923.202540;
finalDepth = 920.912497;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.041015 meters
#   Minimum depth: 948.202540 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.883479 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 923.202540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773695;
longitude = -121.994794;
duration = 200;
initialDepth = 906.012553;
finalDepth = 923.202540;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.065428 meters
#   Minimum depth: 931.012553 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.196115 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 906.012553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773671;
longitude = -121.993674;
duration = 200;
initialDepth = 895.490421;
finalDepth = 906.012553;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 126.387248 meters
#   Minimum depth: 920.490421 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.832202 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 895.490421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773648;
longitude = -121.992553;
duration = 252;
# abortOnTimeout    = True; 
initialDepth = 903.585402;
finalDepth = 895.490421;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.326649 meters
#   Minimum depth: 928.585402 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.967499 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 903.585402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773739;
longitude = -121.991141;
duration = 200;
initialDepth = 904.117617;
finalDepth = 903.585402;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.326578 meters
#   Minimum depth: 929.117617 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.603995 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 904.117617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773811;
longitude = -121.990021;
duration = 200;
initialDepth = 907.123389;
finalDepth = 904.117617;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.995350 meters
#   Minimum depth: 932.123389 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.382402 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 907.123389 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773883;
longitude = -121.988900;
duration = 201;
initialDepth = 867.376825;
finalDepth = 907.123389;
speed = 1.500000;
}
# 
# 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 160.380387 meters
#   Minimum depth: 892.376825 meters looking forward 100.000000 meters along route
#   Maximum depth: 932.064535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 867.376825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773956;
longitude = -121.987772;
duration = 320;
# abortOnTimeout    = True; 
initialDepth = 822.367199;
finalDepth = 867.376825;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.370223 meters
#   Minimum depth: 847.367199 meters looking forward 100.000000 meters along route
#   Maximum depth: 892.122934 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 822.367199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774857;
longitude = -121.986368;
duration = 202;
initialDepth = 765.657001;
finalDepth = 822.367199;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.388228 meters
#   Minimum depth: 790.657001 meters looking forward 100.000000 meters along route
#   Maximum depth: 846.687298 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 765.657001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775427;
longitude = -121.985480;
duration = 200;
initialDepth = 730.484454;
finalDepth = 765.657001;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 106.095282 meters
#   Minimum depth: 755.484454 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.414108 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 730.484454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775992;
longitude = -121.984601;
duration = 212;
# abortOnTimeout    = True; 
initialDepth = 696.946248;
finalDepth = 730.484454;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.134941 meters
#   Minimum depth: 721.946248 meters looking forward 100.000000 meters along route
#   Maximum depth: 755.298210 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 696.946248 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776851;
longitude = -121.984079;
duration = 200;
initialDepth = 673.245133;
finalDepth = 696.946248;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.134759 meters
#   Minimum depth: 698.245133 meters looking forward 100.000000 meters along route
#   Maximum depth: 721.858252 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 673.245133 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777662;
longitude = -121.983587;
duration = 200;
initialDepth = 654.878034;
finalDepth = 673.245133;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.134577 meters
#   Minimum depth: 679.878034 meters looking forward 100.000000 meters along route
#   Maximum depth: 698.189457 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 654.878034 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778474;
longitude = -121.983095;
duration = 200;
initialDepth = 631.138560;
finalDepth = 654.878034;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.222135 meters
#   Minimum depth: 656.138560 meters looking forward 100.000000 meters along route
#   Maximum depth: 679.863054 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 631.138560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779285;
longitude = -121.982602;
duration = 200;
initialDepth = 614.765385;
finalDepth = 631.138560;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.046471 meters
#   Minimum depth: 639.765385 meters looking forward 100.000000 meters along route
#   Maximum depth: 656.119725 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 614.765385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780096;
longitude = -121.982110;
duration = 200;
initialDepth = 596.947441;
finalDepth = 614.765385;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.134029 meters
#   Minimum depth: 621.947441 meters looking forward 100.000000 meters along route
#   Maximum depth: 639.593377 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 596.947441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780907;
longitude = -121.981618;
duration = 200;
initialDepth = 573.371395;
finalDepth = 596.947441;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.133847 meters
#   Minimum depth: 598.371395 meters looking forward 100.000000 meters along route
#   Maximum depth: 621.478936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 573.371395 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781718;
longitude = -121.981125;
duration = 200;
initialDepth = 541.785300;
finalDepth = 573.371395;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.133664 meters
#   Minimum depth: 566.785300 meters looking forward 100.000000 meters along route
#   Maximum depth: 597.734796 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 541.785300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782529;
longitude = -121.980633;
duration = 200;
initialDepth = 505.474164;
finalDepth = 541.785300;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.133482 meters
#   Minimum depth: 530.474164 meters looking forward 100.000000 meters along route
#   Maximum depth: 566.205165 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 505.474164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783340;
longitude = -121.980141;
duration = 200;
initialDepth = 479.790947;
finalDepth = 505.474164;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.133300 meters
#   Minimum depth: 504.790947 meters looking forward 100.000000 meters along route
#   Maximum depth: 529.829687 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 479.790947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784151;
longitude = -121.979649;
duration = 200;
initialDepth = 461.681703;
finalDepth = 479.790947;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.133117 meters
#   Minimum depth: 486.681703 meters looking forward 100.000000 meters along route
#   Maximum depth: 504.389663 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 461.681703 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784962;
longitude = -121.979156;
duration = 200;
initialDepth = 428.632541;
finalDepth = 461.681703;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.132935 meters
#   Minimum depth: 453.632541 meters looking forward 100.000000 meters along route
#   Maximum depth: 486.160056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 428.632541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785773;
longitude = -121.978664;
duration = 200;
initialDepth = 384.331496;
finalDepth = 428.632541;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.132752 meters
#   Minimum depth: 409.331496 meters looking forward 100.000000 meters along route
#   Maximum depth: 452.737758 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 384.331496 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786584;
longitude = -121.978172;
duration = 200;
initialDepth = 333.561059;
finalDepth = 384.331496;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.132570 meters
#   Minimum depth: 358.561059 meters looking forward 100.000000 meters along route
#   Maximum depth: 407.903264 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 333.561059 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787395;
longitude = -121.977679;
duration = 200;
initialDepth = 310.720765;
finalDepth = 333.561059;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.132387 meters
#   Minimum depth: 335.720765 meters looking forward 100.000000 meters along route
#   Maximum depth: 357.109728 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 310.720765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788206;
longitude = -121.977187;
duration = 200;
initialDepth = 293.292074;
finalDepth = 310.720765;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.132205 meters
#   Minimum depth: 318.292074 meters looking forward 100.000000 meters along route
#   Maximum depth: 335.121547 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 293.292074 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789017;
longitude = -121.976695;
duration = 200;
initialDepth = 274.733227;
finalDepth = 293.292074;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.132023 meters
#   Minimum depth: 299.733227 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.909017 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 274.733227 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789829;
longitude = -121.976202;
duration = 200;
initialDepth = 255.401751;
finalDepth = 274.733227;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.131840 meters
#   Minimum depth: 280.401751 meters looking forward 100.000000 meters along route
#   Maximum depth: 299.782886 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 255.401751 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790640;
longitude = -121.975710;
duration = 200;
initialDepth = 235.617151;
finalDepth = 255.401751;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.131658 meters
#   Minimum depth: 260.617151 meters looking forward 100.000000 meters along route
#   Maximum depth: 279.914150 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 235.617151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791451;
longitude = -121.975218;
duration = 200;
initialDepth = 213.780460;
finalDepth = 235.617151;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.131476 meters
#   Minimum depth: 238.780460 meters looking forward 100.000000 meters along route
#   Maximum depth: 259.985358 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 213.780460 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792262;
longitude = -121.974725;
duration = 200;
initialDepth = 191.532836;
finalDepth = 213.780460;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.131293 meters
#   Minimum depth: 216.532836 meters looking forward 100.000000 meters along route
#   Maximum depth: 238.436935 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 191.532836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793073;
longitude = -121.974233;
duration = 200;
initialDepth = 172.163982;
finalDepth = 191.532836;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.131110 meters
#   Minimum depth: 197.163982 meters looking forward 100.000000 meters along route
#   Maximum depth: 216.084256 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 172.163982 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793884;
longitude = -121.973741;
duration = 200;
initialDepth = 154.937631;
finalDepth = 172.163982;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.130929 meters
#   Minimum depth: 179.937631 meters looking forward 100.000000 meters along route
#   Maximum depth: 196.876100 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 154.937631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794695;
longitude = -121.973248;
duration = 200;
initialDepth = 128.727051;
finalDepth = 154.937631;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.130746 meters
#   Minimum depth: 153.727051 meters looking forward 100.000000 meters along route
#   Maximum depth: 179.518690 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 128.727051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795506;
longitude = -121.972756;
duration = 200;
initialDepth = 102.162885;
finalDepth = 128.727051;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.130563 meters
#   Minimum depth: 127.162885 meters looking forward 100.000000 meters along route
#   Maximum depth: 153.360721 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 102.162885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796317;
longitude = -121.972264;
duration = 200;
initialDepth = 85.152167;
finalDepth = 102.162885;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.130381 meters
#   Minimum depth: 110.152167 meters looking forward 100.000000 meters along route
#   Maximum depth: 126.916430 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 85.152167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797128;
longitude = -121.971771;
duration = 200;
initialDepth = 79.482269;
finalDepth = 85.152167;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.130199 meters
#   Minimum depth: 104.482269 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.141209 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 79.482269 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797939;
longitude = -121.971279;
duration = 200;
initialDepth = 77.534605;
finalDepth = 79.482269;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.130016 meters
#   Minimum depth: 102.534605 meters looking forward 100.000000 meters along route
#   Maximum depth: 104.419322 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 77.534605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798750;
longitude = -121.970787;
duration = 200;
initialDepth = 74.545397;
finalDepth = 77.534605;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.871536 meters
#   Minimum depth: 99.545397 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.558387 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 74.545397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799561;
longitude = -121.970294;
duration = 201;
initialDepth = 74.545397;
finalDepth = 74.545397;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 99.545397 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.558387 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 982.148671 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 74.545397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800379;
longitude = -121.969798;
duration = 600;
initialDepth = 74.545397;
finalDepth = 74.545397;
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 = 10.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 25.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 10.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
#######################################################
