

# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <wegener> at <Mon Oct 29 15:51:53 PDT 2012>
#
# Mission Summary:
#     Route File:               201210_WallTest_1v2.rte
#     Mission File:             201210_WallTest_1v2.cfg
#     Distance:                 10501.484285 (m)
#     Estimated Time:           8890 (s)  2.470 (hr)
#     Abort Time:               11557 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1177 (s)
#     Way Points:               26
#     Route Points:             203
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:
#                               Multibeam enabled
#                                 Multibeam receive gain:           40
#                                 Multibeam transmit gain:          220
#                                 Multibeam minimum range fraction: 0.3
#                               Subbottom disabled
#                               Low sidescan disabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled:
#
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (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)
#     Desired Vehicle Altitude 1: 50 (m)
#     Minimum Vehicle Altitude 1: 25 (m)
#     Abort Vehicle Altitude 1:   12 (m)
#     Delta Depth Restart 1:      13 (m)
#     Desired Vehicle Altitude 2: 25 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      1007.315831 (m)
#     Abort Vehicle Depth:        1019.815831 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   50 (m)
#     Waypoint Spacing:           50 (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 203 mission points have been defined.
#
# Define Mission parameters:
#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 5400;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 1007.315831;
abortDepth = 1019.815831;
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;
}
#
# 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 25
#   Segment length 39.308324 meters
#   Minimum depth: 981.326742 meters looking forward 50.000000 meters along route
#   Maximum depth: 986.687602 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 956.326742 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 = 78;
# abortOnTimeout    = True;
initialDepth = 961.770975;
finalDepth = 956.326742;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25
#   Actual altitude:          25
#   Commanded vehicle depth:  956.326742
#   Seafloor depth:           -981.326742
#
behavior reson
{
duration = 6;
MB_Range = 87.50;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.50;
MB_Bottom_Detect_Filter_Max_Range = 87.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 87.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 25
#   Segment length 50.922243 meters
#   Minimum depth: 986.770975 meters looking forward 50.000000 meters along route
#   Maximum depth: 991.518230 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 961.770975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779349;
longitude = -122.008376;
duration = 101;
initialDepth = 966.624210;
finalDepth = 961.770975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25
#   Actual altitude:          25
#   Commanded vehicle depth:  961.770975
#   Seafloor depth:           -986.770975
#
behavior reson
{
duration = 6;
MB_Range = 87.50;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.50;
MB_Bottom_Detect_Filter_Max_Range = 87.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 87.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 25
#   Segment length 50.922350 meters
#   Minimum depth: 991.624210 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.533637 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 966.624210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779044;
longitude = -122.008801;
duration = 101;
initialDepth = 969.368750;
finalDepth = 966.624210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25
#   Actual altitude:          25
#   Commanded vehicle depth:  966.62421
#   Seafloor depth:           -991.624210
#
behavior reson
{
duration = 6;
MB_Range = 87.50;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.50;
MB_Bottom_Detect_Filter_Max_Range = 87.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 87.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 25
#   Segment length 50.922457 meters
#   Minimum depth: 994.368750 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.820751 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 969.368750 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 = 101;
initialDepth = 969.815831;
finalDepth = 969.368750;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25
#   Actual altitude:          25
#   Commanded vehicle depth:  969.36875
#   Seafloor depth:           -994.368750
#
behavior reson
{
duration = 6;
MB_Range = 87.50;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.50;
MB_Bottom_Detect_Filter_Max_Range = 87.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 87.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 25
#   Segment length 50.922564 meters
#   Minimum depth: 994.815831 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.996148 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 969.815831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778432;
longitude = -122.009653;
duration = 101;
initialDepth = 969.690491;
finalDepth = 969.815831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25.025342
#   Actual altitude:          25.025342
#   Commanded vehicle depth:  969.815831
#   Seafloor depth:           -994.841173
#
behavior reson
{
duration = 6;
MB_Range = 87.59;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.51;
MB_Bottom_Detect_Filter_Max_Range = 87.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 87.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 25
#   Segment length 50.373727 meters
#   Minimum depth: 994.690491 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.080258 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 969.690491 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 = 100;
initialDepth = 969.662604;
finalDepth = 969.690491;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25.2313210000001
#   Actual altitude:          25.2313210000001
#   Commanded vehicle depth:  969.690491
#   Seafloor depth:           -994.921812
#
behavior reson
{
duration = 6;
MB_Range = 88.31;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.57;
MB_Bottom_Detect_Filter_Max_Range = 88.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 88.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 25
#   Segment length 50.104572 meters
#   Minimum depth: 994.662604 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.942030 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 969.662604 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777825;
longitude = -122.010500;
duration = 100;
initialDepth = 969.406129;
finalDepth = 969.662604;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       25.2313210000001
#   Actual altitude:          25.2313210000001
#   Commanded vehicle depth:  969.662604
#   Seafloor depth:           -994.837769
#
behavior reson
{
duration = 6;
MB_Range = 88.31;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.57;
MB_Bottom_Detect_Filter_Max_Range = 88.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 88.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 24
#   Segment length 61.524272 meters
#   Minimum depth: 994.406129 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.192277 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 969.406129 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 = 123;
# abortOnTimeout    = True;
initialDepth = 968.904752;
finalDepth = 969.406129;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25.5802140000001
#   Actual altitude:          25.5802140000001
#   Commanded vehicle depth:  969.406129
#   Seafloor depth:           -994.986343
#
behavior reson
{
duration = 6;
MB_Range = 89.53;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.67;
MB_Bottom_Detect_Filter_Max_Range = 89.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 89.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 24
#   Segment length 50.952562 meters
#   Minimum depth: 993.904752 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.679541 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.777176;
longitude = -122.010382;
duration = 101;
initialDepth = 944.088397;
finalDepth = 968.904752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25.5802140000001
#   Actual altitude:          25.5802140000001
#   Commanded vehicle depth:  968.904752
#   Seafloor depth:           -994.359589
#
behavior reson
{
duration = 6;
MB_Range = 89.53;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.67;
MB_Bottom_Detect_Filter_Max_Range = 89.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 89.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 24
#   Segment length 50.952680 meters
#   Minimum depth: 969.088397 meters looking forward 50.000000 meters along route
#   Maximum depth: 996.133859 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.776887;
longitude = -122.009938;
duration = 101;
initialDepth = 944.109197;
finalDepth = 944.088397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.67394
#   Actual altitude:          50.67394
#   Commanded vehicle depth:  944.088397
#   Seafloor depth:           -994.762337
#
behavior reson
{
duration = 6;
MB_Range = 177.36;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 177.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 177.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 24
#   Segment length 51.122640 meters
#   Minimum depth: 969.109197 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.413289 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.109197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776599;
longitude = -122.009494;
duration = 102;
initialDepth = 967.948075;
finalDepth = 944.109197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.67394
#   Actual altitude:          50.67394
#   Commanded vehicle depth:  944.109197
#   Seafloor depth:           -969.272627
#
behavior reson
{
duration = 6;
MB_Range = 177.36;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 177.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 177.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 24
#   Segment length 51.396269 meters
#   Minimum depth: 993.772914 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.848317 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 967.948075 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776310;
longitude = -122.009048;
duration = 102;
initialDepth = 967.863557;
finalDepth = 967.948075;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       26.5294009261449
#   Actual altitude:          26.5294009261449
#   Commanded vehicle depth:  967.948075073855
#   Seafloor depth:           -994.477476
#
behavior reson
{
duration = 6;
MB_Range = 92.85;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.96;
MB_Bottom_Detect_Filter_Max_Range = 92.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 92.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 24
#   Segment length 51.396390 meters
#   Minimum depth: 992.863557 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.910101 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.776019;
longitude = -122.008600;
duration = 102;
initialDepth = 964.785624;
finalDepth = 967.863557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       26.5294009261449
#   Actual altitude:          26.5294009261449
#   Commanded vehicle depth:  967.863557
#   Seafloor depth:           -993.775422
#
behavior reson
{
duration = 6;
MB_Range = 92.85;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.96;
MB_Bottom_Detect_Filter_Max_Range = 92.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 92.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 24
#   Segment length 51.396512 meters
#   Minimum depth: 989.785624 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.234719 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 964.785624 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 = 102;
initialDepth = 964.478137;
finalDepth = 964.785624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       29.4490950000001
#   Actual altitude:          29.4490950000001
#   Commanded vehicle depth:  964.785624
#   Seafloor depth:           -994.234719
#
behavior reson
{
duration = 6;
MB_Range = 103.07;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.83;
MB_Bottom_Detect_Filter_Max_Range = 103.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 103.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 24
#   Segment length 50.708646 meters
#   Minimum depth: 989.478137 meters looking forward 50.000000 meters along route
#   Maximum depth: 991.001455 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.775437;
longitude = -122.007703;
duration = 101;
initialDepth = 962.646677;
finalDepth = 964.478137;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       29.4490950000001
#   Actual altitude:          29.4490950000001
#   Commanded vehicle depth:  964.478137
#   Seafloor depth:           -990.528550
#
behavior reson
{
duration = 6;
MB_Range = 103.07;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.83;
MB_Bottom_Detect_Filter_Max_Range = 103.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 103.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 23
#   Segment length 50.497203 meters
#   Minimum depth: 987.646677 meters looking forward 50.000000 meters along route
#   Maximum depth: 990.196532 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 962.646677 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.775150;
longitude = -122.007261;
duration = 100;
# abortOnTimeout    = True;
depth = 962.617299;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       26.836752
#   Actual altitude:          26.836752
#   Commanded vehicle depth:  962.646677
#   Seafloor depth:           -989.483429
#
behavior reson
{
duration = 6;
MB_Range = 93.93;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.05;
MB_Bottom_Detect_Filter_Max_Range = 93.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 93.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_wall behavior during line 23
#   Segment length 52.086564 meters
#   Minimum depth: 987.617299 meters looking forward 50.000000 meters along route
#   Maximum depth: 988.034688 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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_wall
{
latitude = 36.774973;
longitude = -122.006740;
duration = 104;
depth = 961.925549;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       26.836752
#   Actual altitude:          26.836752
#   Commanded vehicle depth:  962.617299
#   Seafloor depth:           -987.617299
#
behavior reson
{
duration = 6;
MB_Range = 93.93;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.05;
MB_Bottom_Detect_Filter_Max_Range = 93.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 93.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_wall behavior during line 23
#   Segment length 52.086674 meters
#   Minimum depth: 986.925549 meters looking forward 50.000000 meters along route
#   Maximum depth: 987.653655 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 961.925549 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774791;
longitude = -122.006202;
duration = 104;
depth = 959.097111;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25.7281059999999
#   Actual altitude:          25.7281059999999
#   Commanded vehicle depth:  961.925549
#   Seafloor depth:           -987.653655
#
behavior reson
{
duration = 6;
MB_Range = 90.05;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.72;
MB_Bottom_Detect_Filter_Max_Range = 90.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 90.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_wall behavior during line 23
#   Segment length 51.403006 meters
#   Minimum depth: 984.097111 meters looking forward 50.000000 meters along route
#   Maximum depth: 986.831915 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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_wall
{
latitude = 36.774609;
longitude = -122.005664;
duration = 102;
depth = 956.355565;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       27.7348039999999
#   Actual altitude:          27.7348039999999
#   Commanded vehicle depth:  959.097111
#   Seafloor depth:           -986.831915
#
behavior reson
{
duration = 6;
MB_Range = 97.07;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.32;
MB_Bottom_Detect_Filter_Max_Range = 97.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 97.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 22
#   Segment length 74.239198 meters
#   Minimum depth: 981.355565 meters looking forward 50.000000 meters along route
#   Maximum depth: 984.006149 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 956.355565 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774429;
longitude = -122.005133;
duration = 148;
# abortOnTimeout    = True;
depth = 955.548937;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       27.7348039999999
#   Actual altitude:          27.7348039999999
#   Commanded vehicle depth:  956.355565
#   Seafloor depth:           -984.006149
#
behavior reson
{
duration = 6;
MB_Range = 97.07;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.32;
MB_Bottom_Detect_Filter_Max_Range = 97.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 97.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_wall behavior during line 22
#   Segment length 51.107796 meters
#   Minimum depth: 980.548937 meters looking forward 50.000000 meters along route
#   Maximum depth: 981.561153 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 955.548937 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774291;
longitude = -122.004319;
duration = 102;
depth = 951.960981;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       27.6505840000001
#   Actual altitude:          27.6505840000001
#   Commanded vehicle depth:  955.548937
#   Seafloor depth:           -981.290082
#
behavior reson
{
duration = 6;
MB_Range = 96.78;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.30;
MB_Bottom_Detect_Filter_Max_Range = 96.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 96.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_wall behavior during line 22
#   Segment length 51.707940 meters
#   Minimum depth: 976.960981 meters looking forward 50.000000 meters along route
#   Maximum depth: 981.524559 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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_wall
{
latitude = 36.774195;
longitude = -122.003759;
duration = 103;
depth = 950.090523;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       29.563578
#   Actual altitude:          29.563578
#   Commanded vehicle depth:  951.960981
#   Seafloor depth:           -981.524559
#
behavior reson
{
duration = 6;
MB_Range = 103.47;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.87;
MB_Bottom_Detect_Filter_Max_Range = 103.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 103.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 21
#   Segment length 55.744708 meters
#   Minimum depth: 975.090523 meters looking forward 50.000000 meters along route
#   Maximum depth: 977.731936 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 950.090523 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 = 111;
# abortOnTimeout    = True;
initialDepth = 943.918987;
finalDepth = 950.090523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       29.563578
#   Actual altitude:          29.563578
#   Commanded vehicle depth:  950.090523
#   Seafloor depth:           -977.229477
#
behavior reson
{
duration = 6;
MB_Range = 103.47;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.87;
MB_Bottom_Detect_Filter_Max_Range = 103.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 103.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 21
#   Segment length 50.299407 meters
#   Minimum depth: 968.918987 meters looking forward 50.000000 meters along route
#   Maximum depth: 977.086326 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.774045;
longitude = -122.002571;
duration = 100;
initialDepth = 941.905085;
finalDepth = 943.918987;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       32.530026
#   Actual altitude:          32.530026
#   Commanded vehicle depth:  943.918987
#   Seafloor depth:           -976.449013
#
behavior reson
{
duration = 6;
MB_Range = 113.86;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 9.76;
MB_Bottom_Detect_Filter_Max_Range = 113.86;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 113.86;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 21
#   Segment length 50.299445 meters
#   Minimum depth: 966.905085 meters looking forward 50.000000 meters along route
#   Maximum depth: 973.581677 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 100;
initialDepth = 944.684227;
finalDepth = 941.905085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       32.530026
#   Actual altitude:          32.530026
#   Commanded vehicle depth:  941.905085
#   Seafloor depth:           -968.354383
#
behavior reson
{
duration = 6;
MB_Range = 113.86;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 9.76;
MB_Bottom_Detect_Filter_Max_Range = 113.86;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 113.86;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 21
#   Segment length 50.299482 meters
#   Minimum depth: 969.684227 meters looking forward 50.000000 meters along route
#   Maximum depth: 973.340626 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.684227 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773946;
longitude = -122.001451;
duration = 100;
initialDepth = 942.524935;
finalDepth = 944.684227;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       28.6563990000001
#   Actual altitude:          28.6563990000001
#   Commanded vehicle depth:  944.684227
#   Seafloor depth:           -973.340626
#
behavior reson
{
duration = 6;
MB_Range = 100.30;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.60;
MB_Bottom_Detect_Filter_Max_Range = 100.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 100.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 21
#   Segment length 50.299519 meters
#   Minimum depth: 967.524935 meters looking forward 50.000000 meters along route
#   Maximum depth: 969.634313 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 942.524935 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 = 100;
initialDepth = 941.845026;
finalDepth = 942.524935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       28.6563990000001
#   Actual altitude:          28.6563990000001
#   Commanded vehicle depth:  942.524935
#   Seafloor depth:           -969.444219
#
behavior reson
{
duration = 6;
MB_Range = 100.30;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.60;
MB_Bottom_Detect_Filter_Max_Range = 100.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 100.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 21
#   Segment length 51.347196 meters
#   Minimum depth: 966.845026 meters looking forward 50.000000 meters along route
#   Maximum depth: 968.903349 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.773848;
longitude = -122.000330;
duration = 102;
initialDepth = 940.022884;
finalDepth = 941.845026;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       26.9192839999999
#   Actual altitude:          26.9192839999999
#   Commanded vehicle depth:  941.845026
#   Seafloor depth:           -967.549951
#
behavior reson
{
duration = 6;
MB_Range = 94.22;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.08;
MB_Bottom_Detect_Filter_Max_Range = 94.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 94.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 20
#   Segment length 62.977401 meters
#   Minimum depth: 965.022884 meters looking forward 50.000000 meters along route
#   Maximum depth: 966.801712 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 940.022884 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 = 125;
# abortOnTimeout    = True;
initialDepth = 937.764822;
finalDepth = 940.022884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       26.778828
#   Actual altitude:          26.778828
#   Commanded vehicle depth:  940.022884
#   Seafloor depth:           -966.801712
#
behavior reson
{
duration = 6;
MB_Range = 93.73;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.03;
MB_Bottom_Detect_Filter_Max_Range = 93.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 93.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 20
#   Segment length 50.014945 meters
#   Minimum depth: 962.764822 meters looking forward 50.000000 meters along route
#   Maximum depth: 965.288080 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 937.764822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773786;
longitude = -121.999053;
duration = 100;
initialDepth = 936.092947;
finalDepth = 937.764822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       27.5232580000001
#   Actual altitude:          27.5232580000001
#   Commanded vehicle depth:  937.764822
#   Seafloor depth:           -965.288080
#
behavior reson
{
duration = 6;
MB_Range = 96.33;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.26;
MB_Bottom_Detect_Filter_Max_Range = 96.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 96.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 20
#   Segment length 50.014957 meters
#   Minimum depth: 961.092947 meters looking forward 50.000000 meters along route
#   Maximum depth: 962.676962 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 936.092947 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 = 100;
initialDepth = 934.249234;
finalDepth = 936.092947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       27.5232580000001
#   Actual altitude:          27.5232580000001
#   Commanded vehicle depth:  936.092947
#   Seafloor depth:           -962.676962
#
behavior reson
{
duration = 6;
MB_Range = 96.33;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.26;
MB_Bottom_Detect_Filter_Max_Range = 96.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 96.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 20
#   Segment length 50.014968 meters
#   Minimum depth: 959.249234 meters looking forward 50.000000 meters along route
#   Maximum depth: 961.131483 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 934.249234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773767;
longitude = -121.997932;
duration = 100;
initialDepth = 927.149509;
finalDepth = 934.249234;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       26.882249
#   Actual altitude:          26.882249
#   Commanded vehicle depth:  934.249234
#   Seafloor depth:           -961.131483
#
behavior reson
{
duration = 6;
MB_Range = 94.09;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.06;
MB_Bottom_Detect_Filter_Max_Range = 94.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 94.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 20
#   Segment length 50.014980 meters
#   Minimum depth: 952.149509 meters looking forward 50.000000 meters along route
#   Maximum depth: 959.163523 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 927.149509 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 = 100;
initialDepth = 922.035329;
finalDepth = 927.149509;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       32.0140140000001
#   Actual altitude:          32.0140140000001
#   Commanded vehicle depth:  927.149509
#   Seafloor depth:           -959.163523
#
behavior reson
{
duration = 6;
MB_Range = 112.05;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 9.60;
MB_Bottom_Detect_Filter_Max_Range = 112.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 112.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 20
#   Segment length 50.293138 meters
#   Minimum depth: 947.035329 meters looking forward 50.000000 meters along route
#   Maximum depth: 956.035591 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 922.035329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773748;
longitude = -121.996811;
duration = 100;
initialDepth = 921.825528;
finalDepth = 922.035329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       32.0140140000001
#   Actual altitude:          32.0140140000001
#   Commanded vehicle depth:  922.035329
#   Seafloor depth:           -952.124086
#
behavior reson
{
duration = 6;
MB_Range = 112.05;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 9.60;
MB_Bottom_Detect_Filter_Max_Range = 112.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 112.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 19
#   Segment length 79.764407 meters
#   Minimum depth: 946.825528 meters looking forward 50.000000 meters along route
#   Maximum depth: 957.980041 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 921.825528 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 = 159;
# abortOnTimeout    = True;
initialDepth = 928.372975;
finalDepth = 921.825528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       30.088757
#   Actual altitude:          30.088757
#   Commanded vehicle depth:  921.825528
#   Seafloor depth:           -951.224960
#
behavior reson
{
duration = 6;
MB_Range = 105.31;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 9.03;
MB_Bottom_Detect_Filter_Max_Range = 105.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 105.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 19
#   Segment length 50.026655 meters
#   Minimum depth: 953.372975 meters looking forward 50.000000 meters along route
#   Maximum depth: 965.466989 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 928.372975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773716;
longitude = -121.995355;
duration = 100;
initialDepth = 926.608658;
finalDepth = 928.372975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       29.399432
#   Actual altitude:          29.399432
#   Commanded vehicle depth:  928.372975
#   Seafloor depth:           -956.711665
#
behavior reson
{
duration = 6;
MB_Range = 102.90;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.82;
MB_Bottom_Detect_Filter_Max_Range = 102.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 102.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 19
#   Segment length 50.026669 meters
#   Minimum depth: 951.608658 meters looking forward 50.000000 meters along route
#   Maximum depth: 957.356484 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 926.608658 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 = 100;
initialDepth = 923.318498;
finalDepth = 926.608658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       28.33869
#   Actual altitude:          28.33869
#   Commanded vehicle depth:  926.608658
#   Seafloor depth:           -953.334097
#
behavior reson
{
duration = 6;
MB_Range = 99.19;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.50;
MB_Bottom_Detect_Filter_Max_Range = 99.19;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 99.19;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 19
#   Segment length 50.026683 meters
#   Minimum depth: 948.318498 meters looking forward 50.000000 meters along route
#   Maximum depth: 952.833441 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 923.318498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773689;
longitude = -121.994234;
duration = 100;
initialDepth = 915.646520;
finalDepth = 923.318498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       28.238164
#   Actual altitude:          28.238164
#   Commanded vehicle depth:  923.318498
#   Seafloor depth:           -951.556662
#
behavior reson
{
duration = 6;
MB_Range = 98.83;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.47;
MB_Bottom_Detect_Filter_Max_Range = 98.83;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 98.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 19
#   Segment length 50.026699 meters
#   Minimum depth: 940.646520 meters looking forward 50.000000 meters along route
#   Maximum depth: 948.215266 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 915.646520 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 = 100;
initialDepth = 906.012617;
finalDepth = 915.646520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       32.568746
#   Actual altitude:          32.568746
#   Commanded vehicle depth:  915.64652
#   Seafloor depth:           -948.215266
#
behavior reson
{
duration = 6;
MB_Range = 113.99;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 9.77;
MB_Bottom_Detect_Filter_Max_Range = 113.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 113.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 19
#   Segment length 50.051076 meters
#   Minimum depth: 931.012617 meters looking forward 50.000000 meters along route
#   Maximum depth: 940.144245 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 906.012617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773662;
longitude = -121.993114;
duration = 100;
initialDepth = 899.156256;
finalDepth = 906.012617;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       34.131628
#   Actual altitude:          34.131628
#   Commanded vehicle depth:  906.012617
#   Seafloor depth:           -940.144245
#
behavior reson
{
duration = 6;
MB_Range = 119.46;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 119.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 119.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 18
#   Segment length 56.151607 meters
#   Minimum depth: 924.156256 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.444941 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 899.156256 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 = 112;
# abortOnTimeout    = True;
initialDepth = 895.258819;
finalDepth = 899.156256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       34.131628
#   Actual altitude:          34.131628
#   Commanded vehicle depth:  899.156256
#   Seafloor depth:           -931.229797
#
behavior reson
{
duration = 6;
MB_Range = 119.46;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 119.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 119.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 18
#   Segment length 50.157155 meters
#   Minimum depth: 920.258819 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.170447 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 895.258819 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773688;
longitude = -121.991926;
duration = 100;
initialDepth = 898.488853;
finalDepth = 895.258819;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       33.450142
#   Actual altitude:          33.450142
#   Commanded vehicle depth:  895.258819
#   Seafloor depth:           -928.708961
#
behavior reson
{
duration = 6;
MB_Range = 117.08;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 117.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 117.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 18
#   Segment length 50.157138 meters
#   Minimum depth: 923.488853 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.957833 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 898.488853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773723;
longitude = -121.991365;
duration = 100;
initialDepth = 903.566631;
finalDepth = 898.488853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       33.450142
#   Actual altitude:          33.450142
#   Commanded vehicle depth:  898.488853
#   Seafloor depth:           -923.488853
#
behavior reson
{
duration = 6;
MB_Range = 117.08;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 117.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 117.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 18
#   Segment length 50.157121 meters
#   Minimum depth: 928.566631 meters looking forward 50.000000 meters along route
#   Maximum depth: 930.461257 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 903.566631 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 = 100;
initialDepth = 903.873144;
finalDepth = 903.566631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       26.894626
#   Actual altitude:          26.894626
#   Commanded vehicle depth:  903.566631
#   Seafloor depth:           -930.461257
#
behavior reson
{
duration = 6;
MB_Range = 94.13;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.07;
MB_Bottom_Detect_Filter_Max_Range = 94.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 94.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 18
#   Segment length 50.825865 meters
#   Minimum depth: 928.873144 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.238573 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 903.873144 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773794;
longitude = -121.990245;
duration = 101;
initialDepth = 906.357340;
finalDepth = 903.873144;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       26.894626
#   Actual altitude:          26.894626
#   Commanded vehicle depth:  903.873144
#   Seafloor depth:           -928.940036
#
behavior reson
{
duration = 6;
MB_Range = 94.13;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.07;
MB_Bottom_Detect_Filter_Max_Range = 94.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 94.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 17
#   Segment length 56.070527 meters
#   Minimum depth: 931.357340 meters looking forward 50.000000 meters along route
#   Maximum depth: 933.841485 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 906.357340 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 = 112;
# abortOnTimeout    = True;
initialDepth = 908.780052;
finalDepth = 906.357340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25.0668919999999
#   Actual altitude:          25.0668919999999
#   Commanded vehicle depth:  906.35734
#   Seafloor depth:           -931.357340
#
behavior reson
{
duration = 6;
MB_Range = 87.73;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.52;
MB_Bottom_Detect_Filter_Max_Range = 87.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 87.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 17
#   Segment length 50.008739 meters
#   Minimum depth: 933.780052 meters looking forward 50.000000 meters along route
#   Maximum depth: 938.825317 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 908.780052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774069;
longitude = -121.989124;
duration = 100;
initialDepth = 912.218197;
finalDepth = 908.780052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       25.1330830000001
#   Actual altitude:          25.1330830000001
#   Commanded vehicle depth:  908.780052
#   Seafloor depth:           -933.913135
#
behavior reson
{
duration = 6;
MB_Range = 87.97;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.54;
MB_Bottom_Detect_Filter_Max_Range = 87.97;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 87.97;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 17
#   Segment length 50.008637 meters
#   Minimum depth: 937.218197 meters looking forward 50.000000 meters along route
#   Maximum depth: 938.948514 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 912.218197 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 = 100;
initialDepth = 905.716032;
finalDepth = 912.218197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       26.659096
#   Actual altitude:          26.659096
#   Commanded vehicle depth:  912.218197
#   Seafloor depth:           -938.877293
#
behavior reson
{
duration = 6;
MB_Range = 93.31;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 8.00;
MB_Bottom_Detect_Filter_Max_Range = 93.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 93.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 17
#   Segment length 51.523943 meters
#   Minimum depth: 930.716032 meters looking forward 50.000000 meters along route
#   Maximum depth: 937.109791 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 905.716032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774498;
longitude = -121.988138;
duration = 103;
initialDepth = 892.002157;
finalDepth = 905.716032;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            5
#   Commanded altitude:       31.3937589999999
#   Actual altitude:          31.3937589999999
#   Commanded vehicle depth:  905.716032
#   Seafloor depth:           -937.109791
#
behavior reson
{
duration = 6;
MB_Range = 109.88;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 9.42;
MB_Bottom_Detect_Filter_Max_Range = 109.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 109.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 16
#   Segment length 82.649153 meters
#   Minimum depth: 917.002157 meters looking forward 50.000000 meters along route
#   Maximum depth: 930.432617 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 892.002157 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 = 165;
# abortOnTimeout    = True;
initialDepth = 849.916972;
finalDepth = 892.002157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       38.43046
#   Actual altitude:          38.43046
#   Commanded vehicle depth:  892.002157
#   Seafloor depth:           -930.432617
#
behavior reson
{
duration = 6;
MB_Range = 134.51;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 11.53;
MB_Bottom_Detect_Filter_Max_Range = 134.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 134.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 16
#   Segment length 51.322463 meters
#   Minimum depth: 899.916972 meters looking forward 50.000000 meters along route
#   Maximum depth: 916.534709 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.775464;
longitude = -121.987630;
duration = 102;
initialDepth = 837.602612;
finalDepth = 849.916972;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       66.617737
#   Actual altitude:          66.617737
#   Commanded vehicle depth:  849.916972
#   Seafloor depth:           -916.534709
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.99;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 15
#   Segment length 46.493723 meters
#   Minimum depth: 887.602612 meters looking forward 50.000000 meters along route
#   Maximum depth: 900.828552 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 837.602612 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 = 92;
# abortOnTimeout    = True;
initialDepth = 833.021393;
finalDepth = 837.602612;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       66.617737
#   Actual altitude:          66.617737
#   Commanded vehicle depth:  837.602612
#   Seafloor depth:           -899.300456
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.99;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 15
#   Segment length 50.346826 meters
#   Minimum depth: 883.021393 meters looking forward 50.000000 meters along route
#   Maximum depth: 888.432244 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 833.021393 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776166;
longitude = -121.988057;
duration = 100;
initialDepth = 824.955318;
finalDepth = 833.021393;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.697844
#   Actual altitude:          61.697844
#   Commanded vehicle depth:  833.021393
#   Seafloor depth:           -886.842757
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.51;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 15
#   Segment length 51.268349 meters
#   Minimum depth: 874.955318 meters looking forward 50.000000 meters along route
#   Maximum depth: 888.571510 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 824.955318 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 = 102;
initialDepth = 809.011963;
finalDepth = 824.955318;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       63.547953
#   Actual altitude:          63.547953
#   Commanded vehicle depth:  824.955318
#   Seafloor depth:           -888.503271
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.06;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 15
#   Segment length 50.556728 meters
#   Minimum depth: 859.011963 meters looking forward 50.000000 meters along route
#   Maximum depth: 874.824187 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 809.011963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776692;
longitude = -121.988990;
duration = 101;
initialDepth = 796.396388;
finalDepth = 809.011963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       65.812224
#   Actual altitude:          65.812224
#   Commanded vehicle depth:  809.011963
#   Seafloor depth:           -874.824187
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.74;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 14
#   Segment length 57.856525 meters
#   Minimum depth: 846.396388 meters looking forward 50.000000 meters along route
#   Maximum depth: 858.530563 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 796.396388 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 = 115;
# abortOnTimeout    = True;
initialDepth = 784.072541;
finalDepth = 796.396388;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       65.812224
#   Actual altitude:          65.812224
#   Commanded vehicle depth:  796.396388
#   Seafloor depth:           -858.530563
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.74;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 14
#   Segment length 51.125403 meters
#   Minimum depth: 834.072541 meters looking forward 50.000000 meters along route
#   Maximum depth: 846.378168 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 784.072541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777062;
longitude = -121.990088;
duration = 102;
initialDepth = 787.184741;
finalDepth = 784.072541;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       62.305627
#   Actual altitude:          62.305627
#   Commanded vehicle depth:  784.072541
#   Seafloor depth:           -846.378168
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.69;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 14
#   Segment length 51.161591 meters
#   Minimum depth: 837.184741 meters looking forward 50.000000 meters along route
#   Maximum depth: 844.236875 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 787.184741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777158;
longitude = -121.990648;
duration = 102;
initialDepth = 793.043045;
finalDepth = 787.184741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       62.305627
#   Actual altitude:          62.305627
#   Commanded vehicle depth:  787.184741
#   Seafloor depth:           -837.184741
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.69;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 13
#   Segment length 85.626818 meters
#   Minimum depth: 843.043045 meters looking forward 50.000000 meters along route
#   Maximum depth: 852.592966 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 793.043045 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 = 788.527128;
finalDepth = 793.043045;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  793.043045
#   Seafloor depth:           -843.043045
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 13
#   Segment length 50.989783 meters
#   Minimum depth: 838.527128 meters looking forward 50.000000 meters along route
#   Maximum depth: 847.994345 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 788.527128 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 = 101;
initialDepth = 786.586626;
finalDepth = 788.527128;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       59.467217
#   Actual altitude:          59.467217
#   Commanded vehicle depth:  788.527128
#   Seafloor depth:           -847.994345
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.84;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 13
#   Segment length 50.222499 meters
#   Minimum depth: 836.586626 meters looking forward 50.000000 meters along route
#   Maximum depth: 838.103641 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 786.586626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777495;
longitude = -121.992710;
duration = 100;
initialDepth = 784.957058;
finalDepth = 786.586626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       59.467217
#   Actual altitude:          59.467217
#   Commanded vehicle depth:  786.586626
#   Seafloor depth:           -838.103641
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.84;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 12
#   Segment length 66.511129 meters
#   Minimum depth: 834.957058 meters looking forward 50.000000 meters along route
#   Maximum depth: 836.892670 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 784.957058 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 = 133;
# abortOnTimeout    = True;
initialDepth = 783.684768;
finalDepth = 784.957058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.935612
#   Actual altitude:          51.935612
#   Commanded vehicle depth:  784.957058
#   Seafloor depth:           -836.892670
#
behavior reson
{
duration = 6;
MB_Range = 181.77;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 181.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 12
#   Segment length 52.420017 meters
#   Minimum depth: 833.684768 meters looking forward 50.000000 meters along route
#   Maximum depth: 835.320362 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 783.684768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777971;
longitude = -121.993831;
duration = 104;
initialDepth = 780.485408;
finalDepth = 783.684768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.935612
#   Actual altitude:          51.935612
#   Commanded vehicle depth:  783.684768
#   Seafloor depth:           -835.320362
#
behavior reson
{
duration = 6;
MB_Range = 181.77;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 181.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 12
#   Segment length 51.349058 meters
#   Minimum depth: 830.485408 meters looking forward 50.000000 meters along route
#   Maximum depth: 833.764737 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 780.485408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778277;
longitude = -121.994279;
duration = 102;
initialDepth = 776.150555;
finalDepth = 780.485408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       53.159893
#   Actual altitude:          53.159893
#   Commanded vehicle depth:  780.485408
#   Seafloor depth:           -833.645301
#
behavior reson
{
duration = 6;
MB_Range = 186.06;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
MB_Bottom_Detect_Filter_Max_Range = 186.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 186.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 11
#   Segment length 74.628924 meters
#   Minimum depth: 826.150555 meters looking forward 50.000000 meters along route
#   Maximum depth: 830.687886 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 776.150555 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 = 149;
# abortOnTimeout    = True;
initialDepth = 768.142883;
finalDepth = 776.150555;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       54.129383
#   Actual altitude:          54.129383
#   Commanded vehicle depth:  776.150555
#   Seafloor depth:           -830.279938
#
behavior reson
{
duration = 6;
MB_Range = 189.45;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.24;
MB_Bottom_Detect_Filter_Max_Range = 189.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 189.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 11
#   Segment length 51.680346 meters
#   Minimum depth: 818.142883 meters looking forward 50.000000 meters along route
#   Maximum depth: 826.145823 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 768.142883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779032;
longitude = -121.995333;
duration = 103;
initialDepth = 762.188791;
finalDepth = 768.142883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       58.00294
#   Actual altitude:          58.00294
#   Commanded vehicle depth:  768.142883
#   Seafloor depth:           -826.145823
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.40;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 11
#   Segment length 50.511588 meters
#   Minimum depth: 812.188791 meters looking forward 50.000000 meters along route
#   Maximum depth: 817.949718 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 762.188791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779348;
longitude = -121.995758;
duration = 101;
initialDepth = 762.080643;
finalDepth = 762.188791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       58.00294
#   Actual altitude:          58.00294
#   Commanded vehicle depth:  762.188791
#   Seafloor depth:           -817.949718
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.40;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 10
#   Segment length 79.420467 meters
#   Minimum depth: 812.080643 meters looking forward 50.000000 meters along route
#   Maximum depth: 831.729361 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 762.080643 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 = 781.777305;
finalDepth = 762.080643;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       55.7609269999999
#   Actual altitude:          55.7609269999999
#   Commanded vehicle depth:  762.080643
#   Seafloor depth:           -812.080643
#
behavior reson
{
duration = 6;
MB_Range = 195.16;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.73;
MB_Bottom_Detect_Filter_Max_Range = 195.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 195.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.012638 meters
#   Minimum depth: 831.777305 meters looking forward 50.000000 meters along route
#   Maximum depth: 845.376889 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 781.777305 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 = 100;
initialDepth = 796.141956;
finalDepth = 781.777305;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  781.777305
#   Seafloor depth:           -831.777305
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.213874 meters
#   Minimum depth: 846.141956 meters looking forward 50.000000 meters along route
#   Maximum depth: 850.694743 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 796.141956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779549;
longitude = -121.997618;
duration = 100;
initialDepth = 798.323609;
finalDepth = 796.141956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.141956
#   Seafloor depth:           -846.141956
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.213896 meters
#   Minimum depth: 848.323609 meters looking forward 50.000000 meters along route
#   Maximum depth: 852.060136 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 798.323609 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 = 100;
initialDepth = 795.457724;
finalDepth = 798.323609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.7072879999999
#   Actual altitude:          51.7072879999999
#   Commanded vehicle depth:  798.323609
#   Seafloor depth:           -850.030897
#
behavior reson
{
duration = 6;
MB_Range = 180.98;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 180.98;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 180.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.213917 meters
#   Minimum depth: 845.457724 meters looking forward 50.000000 meters along route
#   Maximum depth: 850.897134 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 795.457724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779466;
longitude = -121.998739;
duration = 100;
initialDepth = 793.495743;
finalDepth = 795.457724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       55.4394100000001
#   Actual altitude:          55.4394100000001
#   Commanded vehicle depth:  795.457724
#   Seafloor depth:           -850.897134
#
behavior reson
{
duration = 6;
MB_Range = 194.04;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.63;
MB_Bottom_Detect_Filter_Max_Range = 194.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 194.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.213939 meters
#   Minimum depth: 843.495743 meters looking forward 50.000000 meters along route
#   Maximum depth: 846.765720 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 793.495743 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 = 100;
initialDepth = 793.933378;
finalDepth = 793.495743;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       55.4394100000001
#   Actual altitude:          55.4394100000001
#   Commanded vehicle depth:  793.495743
#   Seafloor depth:           -846.464459
#
behavior reson
{
duration = 6;
MB_Range = 194.04;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.63;
MB_Bottom_Detect_Filter_Max_Range = 194.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 194.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.213960 meters
#   Minimum depth: 843.933378 meters looking forward 50.000000 meters along route
#   Maximum depth: 848.815672 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 793.933378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779382;
longitude = -121.999859;
duration = 100;
initialDepth = 799.195546;
finalDepth = 793.933378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       52.9687160000001
#   Actual altitude:          52.9687160000001
#   Commanded vehicle depth:  793.933378
#   Seafloor depth:           -843.933378
#
behavior reson
{
duration = 6;
MB_Range = 185.39;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.89;
MB_Bottom_Detect_Filter_Max_Range = 185.39;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 185.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.213982 meters
#   Minimum depth: 849.195546 meters looking forward 50.000000 meters along route
#   Maximum depth: 865.596281 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 799.195546 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 = 100;
initialDepth = 816.352532;
finalDepth = 799.195546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  799.195546
#   Seafloor depth:           -849.195546
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214003 meters
#   Minimum depth: 866.352532 meters looking forward 50.000000 meters along route
#   Maximum depth: 882.058683 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 816.352532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779299;
longitude = -122.000980;
duration = 100;
initialDepth = 832.501471;
finalDepth = 816.352532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  816.352532
#   Seafloor depth:           -866.352532
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214025 meters
#   Minimum depth: 882.501471 meters looking forward 50.000000 meters along route
#   Maximum depth: 895.228619 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 832.501471 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 = 100;
initialDepth = 845.553209;
finalDepth = 832.501471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  832.501471
#   Seafloor depth:           -882.501471
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214046 meters
#   Minimum depth: 895.553209 meters looking forward 50.000000 meters along route
#   Maximum depth: 902.457125 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 845.553209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779216;
longitude = -122.002100;
duration = 100;
initialDepth = 852.849616;
finalDepth = 845.553209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  845.553209
#   Seafloor depth:           -895.553209
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214068 meters
#   Minimum depth: 902.849616 meters looking forward 50.000000 meters along route
#   Maximum depth: 912.502569 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 852.849616 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 = 100;
initialDepth = 862.753333;
finalDepth = 852.849616;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  852.849616
#   Seafloor depth:           -902.849616
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214089 meters
#   Minimum depth: 912.753333 meters looking forward 50.000000 meters along route
#   Maximum depth: 918.650696 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 862.753333 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779132;
longitude = -122.003221;
duration = 100;
initialDepth = 868.884131;
finalDepth = 862.753333;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  862.753333
#   Seafloor depth:           -912.753333
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214110 meters
#   Minimum depth: 918.884131 meters looking forward 50.000000 meters along route
#   Maximum depth: 922.080015 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 868.884131 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 = 100;
initialDepth = 872.310548;
finalDepth = 868.884131;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  868.884131
#   Seafloor depth:           -918.884131
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214133 meters
#   Minimum depth: 922.310548 meters looking forward 50.000000 meters along route
#   Maximum depth: 929.666797 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 872.310548 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779049;
longitude = -122.004342;
duration = 100;
initialDepth = 877.217986;
finalDepth = 872.310548;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  872.310548
#   Seafloor depth:           -922.310548
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214153 meters
#   Minimum depth: 927.217986 meters looking forward 50.000000 meters along route
#   Maximum depth: 932.301644 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 877.217986 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 = 100;
initialDepth = 882.661645;
finalDepth = 877.217986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       52.257266
#   Actual altitude:          52.257266
#   Commanded vehicle depth:  877.217986
#   Seafloor depth:           -929.475252
#
behavior reson
{
duration = 6;
MB_Range = 182.90;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 182.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 182.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214175 meters
#   Minimum depth: 932.661645 meters looking forward 50.000000 meters along route
#   Maximum depth: 941.813831 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 882.661645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778965;
longitude = -122.005462;
duration = 100;
initialDepth = 891.961578;
finalDepth = 882.661645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       52.257266
#   Actual altitude:          52.257266
#   Commanded vehicle depth:  882.661645
#   Seafloor depth:           -932.661645
#
behavior reson
{
duration = 6;
MB_Range = 182.90;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 182.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 182.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214197 meters
#   Minimum depth: 941.961578 meters looking forward 50.000000 meters along route
#   Maximum depth: 950.942499 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 891.961578 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 = 100;
initialDepth = 901.419515;
finalDepth = 891.961578;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  891.961578
#   Seafloor depth:           -941.961578
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.214218 meters
#   Minimum depth: 951.419515 meters looking forward 50.000000 meters along route
#   Maximum depth: 960.269615 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 901.419515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778882;
longitude = -122.006583;
duration = 100;
initialDepth = 910.695893;
finalDepth = 901.419515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  901.419515
#   Seafloor depth:           -951.419515
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.469612 meters
#   Minimum depth: 960.695893 meters looking forward 50.000000 meters along route
#   Maximum depth: 974.175419 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 910.695893 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 = 100;
initialDepth = 924.237399;
finalDepth = 910.695893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  910.695893
#   Seafloor depth:           -960.695893
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 10
#   Segment length 50.451568 meters
#   Minimum depth: 974.237399 meters looking forward 50.000000 meters along route
#   Maximum depth: 983.737592 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 924.237399 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778798;
longitude = -122.007706;
duration = 100;
initialDepth = 933.897705;
finalDepth = 924.237399;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  924.237399
#   Seafloor depth:           -974.237399
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 9
#   Segment length 68.733720 meters
#   Minimum depth: 983.897705 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.412856 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 933.897705 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 = 137;
# abortOnTimeout    = True;
initialDepth = 944.465091;
finalDepth = 933.897705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  933.897705
#   Seafloor depth:           -983.897705
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 9
#   Segment length 50.820375 meters
#   Minimum depth: 994.465091 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.133633 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.465091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778446;
longitude = -122.008936;
duration = 101;
initialDepth = 945.072671;
finalDepth = 944.465091;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  944.465091
#   Seafloor depth:           -994.465091
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 9
#   Segment length 50.972424 meters
#   Minimum depth: 995.072671 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.277640 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 945.072671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778217;
longitude = -122.009429;
duration = 101;
initialDepth = 945.101294;
finalDepth = 945.072671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  945.072671
#   Seafloor depth:           -995.072671
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 9
#   Segment length 51.949344 meters
#   Minimum depth: 995.101294 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.375567 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 945.101294 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777987;
longitude = -122.009923;
duration = 103;
initialDepth = 944.648671;
finalDepth = 945.101294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.0959089999999
#   Actual altitude:          50.0959089999999
#   Commanded vehicle depth:  945.101294
#   Seafloor depth:           -995.197203
#
behavior reson
{
duration = 6;
MB_Range = 175.34;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.03;
MB_Bottom_Detect_Filter_Max_Range = 175.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 9
#   Segment length 50.671687 meters
#   Minimum depth: 994.648671 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.168743 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.648671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777753;
longitude = -122.010427;
duration = 101;
initialDepth = 944.406129;
finalDepth = 944.648671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       50.506936
#   Actual altitude:          50.506936
#   Commanded vehicle depth:  944.648671
#   Seafloor depth:           -995.155607
#
behavior reson
{
duration = 6;
MB_Range = 176.77;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
MB_Bottom_Detect_Filter_Max_Range = 176.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 176.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 8
#   Segment length 61.524272 meters
#   Minimum depth: 994.406129 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.192277 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.406129 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 = 123;
# abortOnTimeout    = True;
initialDepth = 943.904752;
finalDepth = 944.406129;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.5802140000001
#   Actual altitude:          50.5802140000001
#   Commanded vehicle depth:  944.406129
#   Seafloor depth:           -994.986343
#
behavior reson
{
duration = 6;
MB_Range = 177.03;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 177.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 177.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 8
#   Segment length 50.952561 meters
#   Minimum depth: 993.904752 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.679541 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.777176;
longitude = -122.010382;
duration = 101;
initialDepth = 919.088397;
finalDepth = 943.904752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.5802140000001
#   Actual altitude:          50.5802140000001
#   Commanded vehicle depth:  943.904752
#   Seafloor depth:           -994.359589
#
behavior reson
{
duration = 6;
MB_Range = 177.03;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 177.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 177.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 8
#   Segment length 50.952680 meters
#   Minimum depth: 969.088397 meters looking forward 50.000000 meters along route
#   Maximum depth: 996.133859 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.776887;
longitude = -122.009938;
duration = 101;
initialDepth = 919.109197;
finalDepth = 919.088397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       75.67394
#   Actual altitude:          75.67394
#   Commanded vehicle depth:  919.088397
#   Seafloor depth:           -994.762337
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.70;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 8
#   Segment length 51.122640 meters
#   Minimum depth: 969.109197 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.413289 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 919.109197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776599;
longitude = -122.009494;
duration = 102;
initialDepth = 942.948075;
finalDepth = 919.109197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       75.67394
#   Actual altitude:          75.67394
#   Commanded vehicle depth:  919.109197
#   Seafloor depth:           -969.272627
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.70;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 8
#   Segment length 51.396270 meters
#   Minimum depth: 993.772914 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.848317 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 942.948075 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776310;
longitude = -122.009048;
duration = 102;
initialDepth = 942.863557;
finalDepth = 942.948075;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.5294009261445
#   Actual altitude:          51.5294009261445
#   Commanded vehicle depth:  942.948075073856
#   Seafloor depth:           -994.477476
#
behavior reson
{
duration = 6;
MB_Range = 180.35;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 180.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 180.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 8
#   Segment length 51.396390 meters
#   Minimum depth: 992.863557 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.910101 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.776019;
longitude = -122.008600;
duration = 102;
initialDepth = 939.785624;
finalDepth = 942.863557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.5294009261445
#   Actual altitude:          51.5294009261445
#   Commanded vehicle depth:  942.863557
#   Seafloor depth:           -993.775422
#
behavior reson
{
duration = 6;
MB_Range = 180.35;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 180.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 180.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 8
#   Segment length 51.396511 meters
#   Minimum depth: 989.785624 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.234719 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 939.785624 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 = 102;
initialDepth = 939.478137;
finalDepth = 939.785624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       54.4490950000001
#   Actual altitude:          54.4490950000001
#   Commanded vehicle depth:  939.785624
#   Seafloor depth:           -994.234719
#
behavior reson
{
duration = 6;
MB_Range = 190.57;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.33;
MB_Bottom_Detect_Filter_Max_Range = 190.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 190.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 8
#   Segment length 50.708647 meters
#   Minimum depth: 989.478137 meters looking forward 50.000000 meters along route
#   Maximum depth: 991.001455 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.775437;
longitude = -122.007703;
duration = 101;
initialDepth = 937.646677;
finalDepth = 939.478137;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       54.4490950000001
#   Actual altitude:          54.4490950000001
#   Commanded vehicle depth:  939.478137
#   Seafloor depth:           -990.528550
#
behavior reson
{
duration = 6;
MB_Range = 190.57;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.33;
MB_Bottom_Detect_Filter_Max_Range = 190.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 190.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 7
#   Segment length 50.497203 meters
#   Minimum depth: 987.646677 meters looking forward 50.000000 meters along route
#   Maximum depth: 990.196532 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 937.646677 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.775150;
longitude = -122.007261;
duration = 100;
# abortOnTimeout    = True;
depth = 937.646677;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.836752
#   Actual altitude:          51.836752
#   Commanded vehicle depth:  937.646677
#   Seafloor depth:           -989.483429
#
behavior reson
{
duration = 6;
MB_Range = 181.43;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 181.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_wall behavior during line 7
#   Segment length 52.086564 meters
#   Minimum depth: 987.617299 meters looking forward 50.000000 meters along route
#   Maximum depth: 988.034688 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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_wall
{
latitude = 36.774973;
longitude = -122.006740;
duration = 104;
depth = 936.925549;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.836752
#   Actual altitude:          51.836752
#   Commanded vehicle depth:  937.617299
#   Seafloor depth:           -987.617299
#
behavior reson
{
duration = 6;
MB_Range = 181.43;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 181.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_wall behavior during line 7
#   Segment length 52.086674 meters
#   Minimum depth: 986.925549 meters looking forward 50.000000 meters along route
#   Maximum depth: 987.653655 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 936.925549 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774791;
longitude = -122.006202;
duration = 104;
depth = 934.097111;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.7281059999999
#   Actual altitude:          50.7281059999999
#   Commanded vehicle depth:  936.925549
#   Seafloor depth:           -987.653655
#
behavior reson
{
duration = 6;
MB_Range = 177.55;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
MB_Bottom_Detect_Filter_Max_Range = 177.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 177.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_wall behavior during line 7
#   Segment length 51.403006 meters
#   Minimum depth: 984.097111 meters looking forward 50.000000 meters along route
#   Maximum depth: 986.831915 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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_wall
{
latitude = 36.774609;
longitude = -122.005664;
duration = 102;
depth = 931.355565;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       52.7348039999999
#   Actual altitude:          52.7348039999999
#   Commanded vehicle depth:  934.097111
#   Seafloor depth:           -986.831915
#
behavior reson
{
duration = 6;
MB_Range = 184.57;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.82;
MB_Bottom_Detect_Filter_Max_Range = 184.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 184.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 6
#   Segment length 74.239197 meters
#   Minimum depth: 981.355565 meters looking forward 50.000000 meters along route
#   Maximum depth: 984.006149 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 931.355565 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774429;
longitude = -122.005133;
duration = 148;
# abortOnTimeout    = True;
depth = 930.548937;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       52.7348039999999
#   Actual altitude:          52.7348039999999
#   Commanded vehicle depth:  931.355565
#   Seafloor depth:           -984.006149
#
behavior reson
{
duration = 6;
MB_Range = 184.57;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.82;
MB_Bottom_Detect_Filter_Max_Range = 184.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 184.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_wall behavior during line 6
#   Segment length 51.107796 meters
#   Minimum depth: 980.548937 meters looking forward 50.000000 meters along route
#   Maximum depth: 981.561153 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 930.548937 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774291;
longitude = -122.004319;
duration = 102;
depth = 926.960981;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       52.6505840000001
#   Actual altitude:          52.6505840000001
#   Commanded vehicle depth:  930.548937
#   Seafloor depth:           -981.290082
#
behavior reson
{
duration = 6;
MB_Range = 184.28;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 184.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 184.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_wall behavior during line 6
#   Segment length 51.707941 meters
#   Minimum depth: 976.960981 meters looking forward 50.000000 meters along route
#   Maximum depth: 981.524559 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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_wall
{
latitude = 36.774195;
longitude = -122.003759;
duration = 103;
depth = 925.090523;
speed = 1.500000;
maxCrossTrackError = 10; #Meters; Maximum cross-track displacement
standOff = 40; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 1; #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       54.563578
#   Actual altitude:          54.563578
#   Commanded vehicle depth:  926.960981
#   Seafloor depth:           -981.524559
#
behavior reson
{
duration = 6;
MB_Range = 190.97;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.37;
MB_Bottom_Detect_Filter_Max_Range = 190.97;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 190.97;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 5
#   Segment length 55.744708 meters
#   Minimum depth: 975.090523 meters looking forward 50.000000 meters along route
#   Maximum depth: 977.731936 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 925.090523 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 = 111;
# abortOnTimeout    = True;
initialDepth = 918.918987;
finalDepth = 925.090523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       54.563578
#   Actual altitude:          54.563578
#   Commanded vehicle depth:  925.090523
#   Seafloor depth:           -977.229477
#
behavior reson
{
duration = 6;
MB_Range = 190.97;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.37;
MB_Bottom_Detect_Filter_Max_Range = 190.97;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 190.97;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 5
#   Segment length 50.299407 meters
#   Minimum depth: 968.918987 meters looking forward 50.000000 meters along route
#   Maximum depth: 977.086326 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.774045;
longitude = -122.002571;
duration = 100;
initialDepth = 916.905085;
finalDepth = 918.918987;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       57.530026
#   Actual altitude:          57.530026
#   Commanded vehicle depth:  918.918987
#   Seafloor depth:           -976.449013
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.26;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 5
#   Segment length 50.299445 meters
#   Minimum depth: 966.905085 meters looking forward 50.000000 meters along route
#   Maximum depth: 973.581677 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 100;
initialDepth = 919.684227;
finalDepth = 916.905085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       57.530026
#   Actual altitude:          57.530026
#   Commanded vehicle depth:  916.905085
#   Seafloor depth:           -968.354383
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.26;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 5
#   Segment length 50.299482 meters
#   Minimum depth: 969.684227 meters looking forward 50.000000 meters along route
#   Maximum depth: 973.340626 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 919.684227 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773946;
longitude = -122.001451;
duration = 100;
initialDepth = 917.524935;
finalDepth = 919.684227;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       53.6563990000001
#   Actual altitude:          53.6563990000001
#   Commanded vehicle depth:  919.684227
#   Seafloor depth:           -973.340626
#
behavior reson
{
duration = 6;
MB_Range = 187.80;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.10;
MB_Bottom_Detect_Filter_Max_Range = 187.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 187.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 5
#   Segment length 50.299519 meters
#   Minimum depth: 967.524935 meters looking forward 50.000000 meters along route
#   Maximum depth: 969.634313 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 917.524935 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 = 100;
initialDepth = 916.845026;
finalDepth = 917.524935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       53.6563990000001
#   Actual altitude:          53.6563990000001
#   Commanded vehicle depth:  917.524935
#   Seafloor depth:           -969.444219
#
behavior reson
{
duration = 6;
MB_Range = 187.80;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.10;
MB_Bottom_Detect_Filter_Max_Range = 187.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 187.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 5
#   Segment length 51.347196 meters
#   Minimum depth: 966.845026 meters looking forward 50.000000 meters along route
#   Maximum depth: 968.903349 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 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 = 36.773848;
longitude = -122.000330;
duration = 102;
initialDepth = 915.024068;
finalDepth = 916.845026;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       51.9192839999999
#   Actual altitude:          51.9192839999999
#   Commanded vehicle depth:  916.845026
#   Seafloor depth:           -967.549951
#
behavior reson
{
duration = 6;
MB_Range = 181.72;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 181.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 4
#   Segment length 42.976113 meters
#   Minimum depth: 965.024068 meters looking forward 50.000000 meters along route
#   Maximum depth: 967.152706 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 915.024068 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 = 85;
# abortOnTimeout    = True;
initialDepth = 913.299845;
finalDepth = 915.024068;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.7776439999999
#   Actual altitude:          51.7776439999999
#   Commanded vehicle depth:  915.024068
#   Seafloor depth:           -966.801712
#
behavior reson
{
duration = 6;
MB_Range = 181.22;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 181.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020396 meters
#   Minimum depth: 963.299845 meters looking forward 50.000000 meters along route
#   Maximum depth: 965.543336 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 913.299845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773788;
longitude = -121.999277;
duration = 100;
initialDepth = 911.921280;
finalDepth = 913.299845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.832688
#   Actual altitude:          51.832688
#   Commanded vehicle depth:  913.299845
#   Seafloor depth:           -965.132533
#
behavior reson
{
duration = 6;
MB_Range = 181.41;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 181.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020409 meters
#   Minimum depth: 961.921280 meters looking forward 50.000000 meters along route
#   Maximum depth: 963.444936 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 911.921280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773776;
longitude = -121.998716;
duration = 100;
initialDepth = 910.364772;
finalDepth = 911.921280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.832688
#   Actual altitude:          51.832688
#   Commanded vehicle depth:  911.92128
#   Seafloor depth:           -963.444936
#
behavior reson
{
duration = 6;
MB_Range = 181.41;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 181.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020423 meters
#   Minimum depth: 960.364772 meters looking forward 50.000000 meters along route
#   Maximum depth: 961.721254 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 910.364772 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 = 100;
initialDepth = 904.962610;
finalDepth = 910.364772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.523656
#   Actual altitude:          51.523656
#   Commanded vehicle depth:  910.364772
#   Seafloor depth:           -961.721254
#
behavior reson
{
duration = 6;
MB_Range = 180.33;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 180.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 180.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020435 meters
#   Minimum depth: 954.962610 meters looking forward 50.000000 meters along route
#   Maximum depth: 960.314359 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 904.962610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773753;
longitude = -121.997596;
duration = 100;
initialDepth = 895.629086;
finalDepth = 904.962610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       55.3517489999999
#   Actual altitude:          55.3517489999999
#   Commanded vehicle depth:  904.96261
#   Seafloor depth:           -960.314359
#
behavior reson
{
duration = 6;
MB_Range = 193.73;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.61;
MB_Bottom_Detect_Filter_Max_Range = 193.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 193.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020448 meters
#   Minimum depth: 945.629086 meters looking forward 50.000000 meters along route
#   Maximum depth: 955.473464 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 895.629086 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 = 100;
initialDepth = 895.118123;
finalDepth = 895.629086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       58.793763
#   Actual altitude:          58.793763
#   Commanded vehicle depth:  895.629086
#   Seafloor depth:           -954.422849
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.64;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020462 meters
#   Minimum depth: 945.118123 meters looking forward 50.000000 meters along route
#   Maximum depth: 952.745409 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 895.118123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773730;
longitude = -121.996475;
duration = 100;
initialDepth = 895.912497;
finalDepth = 895.118123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       58.793763
#   Actual altitude:          58.793763
#   Commanded vehicle depth:  895.118123
#   Seafloor depth:           -946.977758
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.64;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020474 meters
#   Minimum depth: 945.912497 meters looking forward 50.000000 meters along route
#   Maximum depth: 957.599960 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 895.912497 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 = 100;
initialDepth = 903.208029;
finalDepth = 895.912497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.859635
#   Actual altitude:          51.859635
#   Commanded vehicle depth:  895.912497
#   Seafloor depth:           -945.912497
#
behavior reson
{
duration = 6;
MB_Range = 181.51;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 181.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020488 meters
#   Minimum depth: 953.208029 meters looking forward 50.000000 meters along route
#   Maximum depth: 965.018826 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 903.208029 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773706;
longitude = -121.995355;
duration = 100;
initialDepth = 901.600473;
finalDepth = 903.208029;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       52.621043
#   Actual altitude:          52.621043
#   Commanded vehicle depth:  903.208029
#   Seafloor depth:           -955.829072
#
behavior reson
{
duration = 6;
MB_Range = 184.17;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
MB_Bottom_Detect_Filter_Max_Range = 184.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 184.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020501 meters
#   Minimum depth: 951.600473 meters looking forward 50.000000 meters along route
#   Maximum depth: 956.883479 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 901.600473 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 = 100;
initialDepth = 898.202540;
finalDepth = 901.600473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       52.621043
#   Actual altitude:          52.621043
#   Commanded vehicle depth:  901.600473
#   Seafloor depth:           -953.202285
#
behavior reson
{
duration = 6;
MB_Range = 184.17;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
MB_Bottom_Detect_Filter_Max_Range = 184.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 184.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020514 meters
#   Minimum depth: 948.202540 meters looking forward 50.000000 meters along route
#   Maximum depth: 951.545724 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 898.202540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773683;
longitude = -121.994234;
duration = 100;
initialDepth = 890.544909;
finalDepth = 898.202540;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       53.343184
#   Actual altitude:          53.343184
#   Commanded vehicle depth:  898.20254
#   Seafloor depth:           -951.545724
#
behavior reson
{
duration = 6;
MB_Range = 186.70;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.00;
MB_Bottom_Detect_Filter_Max_Range = 186.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 186.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.020527 meters
#   Minimum depth: 940.544909 meters looking forward 50.000000 meters along route
#   Maximum depth: 948.196115 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 890.544909 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 = 100;
initialDepth = 881.012553;
finalDepth = 890.544909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       57.651206
#   Actual altitude:          57.651206
#   Commanded vehicle depth:  890.544909
#   Seafloor depth:           -948.196115
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.30;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 50.044901 meters
#   Minimum depth: 931.012553 meters looking forward 50.000000 meters along route
#   Maximum depth: 940.037226 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 881.012553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773660;
longitude = -121.993114;
duration = 100;
initialDepth = 876.504626;
finalDepth = 881.012553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       59.024673
#   Actual altitude:          59.024673
#   Commanded vehicle depth:  881.012553
#   Seafloor depth:           -940.037226
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.71;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 3
#   Segment length 76.223897 meters
#   Minimum depth: 926.504626 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.229797 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 876.504626 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 = 152;
# abortOnTimeout    = True;
initialDepth = 870.490421;
finalDepth = 876.504626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       59.024673
#   Actual altitude:          59.024673
#   Commanded vehicle depth:  876.504626
#   Seafloor depth:           -931.229797
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.71;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.163351 meters
#   Minimum depth: 920.490421 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.832202 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 870.490421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773703;
longitude = -121.991702;
duration = 100;
initialDepth = 878.773779;
finalDepth = 870.490421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       56.7358400000001
#   Actual altitude:          56.7358400000001
#   Commanded vehicle depth:  870.490421
#   Seafloor depth:           -927.226261
#
behavior reson
{
duration = 6;
MB_Range = 198.58;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.02;
MB_Bottom_Detect_Filter_Max_Range = 198.58;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 198.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.163334 meters
#   Minimum depth: 928.773779 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.967499 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 878.773779 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 = 100;
initialDepth = 878.585402;
finalDepth = 878.773779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       58.026204
#   Actual altitude:          58.026204
#   Commanded vehicle depth:  878.773779
#   Seafloor depth:           -936.799983
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.41;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.163315 meters
#   Minimum depth: 928.585402 meters looking forward 50.000000 meters along route
#   Maximum depth: 929.218409 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 878.585402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773775;
longitude = -121.990581;
duration = 100;
initialDepth = 879.117617;
finalDepth = 878.585402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       58.026204
#   Actual altitude:          58.026204
#   Commanded vehicle depth:  878.585402
#   Seafloor depth:           -928.811697
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.41;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.163298 meters
#   Minimum depth: 929.117617 meters looking forward 50.000000 meters along route
#   Maximum depth: 932.859057 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 879.117617 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 = 100;
initialDepth = 882.941992;
finalDepth = 879.117617;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.2262949999999
#   Actual altitude:          50.2262949999999
#   Commanded vehicle depth:  879.117617
#   Seafloor depth:           -929.136653
#
behavior reson
{
duration = 6;
MB_Range = 175.79;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.07;
MB_Bottom_Detect_Filter_Max_Range = 175.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.163280 meters
#   Minimum depth: 932.941992 meters looking forward 50.000000 meters along route
#   Maximum depth: 933.603995 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 882.941992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773847;
longitude = -121.989461;
duration = 100;
initialDepth = 883.352160;
finalDepth = 882.941992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.0430269999999
#   Actual altitude:          50.0430269999999
#   Commanded vehicle depth:  882.941992
#   Seafloor depth:           -932.985019
#
behavior reson
{
duration = 6;
MB_Range = 175.15;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.01;
MB_Bottom_Detect_Filter_Max_Range = 175.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.163262 meters
#   Minimum depth: 933.352160 meters looking forward 50.000000 meters along route
#   Maximum depth: 937.382402 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 883.352160 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 = 100;
initialDepth = 882.123389;
finalDepth = 883.352160;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.317872
#   Actual altitude:          50.317872
#   Commanded vehicle depth:  883.35216
#   Seafloor depth:           -933.670032
#
behavior reson
{
duration = 6;
MB_Range = 176.11;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.10;
MB_Bottom_Detect_Filter_Max_Range = 176.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 176.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.832088 meters
#   Minimum depth: 932.123389 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.897984 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 882.123389 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773919;
longitude = -121.988340;
duration = 101;
initialDepth = 875.035851;
finalDepth = 882.123389;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       54.774595
#   Actual altitude:          54.774595
#   Commanded vehicle depth:  882.123389
#   Seafloor depth:           -936.897984
#
behavior reson
{
duration = 6;
MB_Range = 191.71;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.43;
MB_Bottom_Detect_Filter_Max_Range = 191.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 191.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 2
#   Segment length 56.623848 meters
#   Minimum depth: 925.035851 meters looking forward 50.000000 meters along route
#   Maximum depth: 932.064535 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 875.035851 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 = 113;
# abortOnTimeout    = True;
initialDepth = 862.353113;
finalDepth = 875.035851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       57.028684
#   Actual altitude:          57.028684
#   Commanded vehicle depth:  875.035851
#   Seafloor depth:           -932.064535
#
behavior reson
{
duration = 6;
MB_Range = 199.60;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.11;
MB_Bottom_Detect_Filter_Max_Range = 199.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 199.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 2
#   Segment length 50.012169 meters
#   Minimum depth: 912.353113 meters looking forward 50.000000 meters along route
#   Maximum depth: 924.862112 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 862.353113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774274;
longitude = -121.987276;
duration = 100;
initialDepth = 843.347468;
finalDepth = 862.353113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       62.508999
#   Actual altitude:          62.508999
#   Commanded vehicle depth:  862.353113
#   Seafloor depth:           -924.862112
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 51.185117 meters
#   Minimum depth: 893.347468 meters looking forward 50.000000 meters along route
#   Maximum depth: 911.326205 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 843.347468 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774555;
longitude = -121.986838;
duration = 102;
initialDepth = 824.151495;
finalDepth = 843.347468;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       67.9787369999999
#   Actual altitude:          67.9787369999999
#   Commanded vehicle depth:  843.347468
#   Seafloor depth:           -911.326205
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.39;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 51.185005 meters
#   Minimum depth: 874.151495 meters looking forward 50.000000 meters along route
#   Maximum depth: 892.774790 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 824.151495 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774843;
longitude = -121.986390;
duration = 102;
initialDepth = 798.099988;
finalDepth = 824.151495;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       68.6232950000001
#   Actual altitude:          68.6232950000001
#   Commanded vehicle depth:  824.151495
#   Seafloor depth:           -892.774790
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.59;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 51.184894 meters
#   Minimum depth: 848.099988 meters looking forward 50.000000 meters along route
#   Maximum depth: 873.245359 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 798.099988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775131;
longitude = -121.985942;
duration = 102;
initialDepth = 764.981695;
finalDepth = 798.099988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       75.145371
#   Actual altitude:          75.145371
#   Commanded vehicle depth:  798.099988
#   Seafloor depth:           -873.245359
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.54;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 51.184782 meters
#   Minimum depth: 814.981695 meters looking forward 50.000000 meters along route
#   Maximum depth: 847.367199 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 764.981695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775419;
longitude = -121.985494;
duration = 102;
initialDepth = 740.657001;
finalDepth = 764.981695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       82.3855040000001
#   Actual altitude:          82.3855040000001
#   Commanded vehicle depth:  764.981695
#   Seafloor depth:           -847.367199
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.72;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 50.763023 meters
#   Minimum depth: 790.657001 meters looking forward 50.000000 meters along route
#   Maximum depth: 814.613251 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 740.657001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775707;
longitude = -121.985046;
duration = 101;
initialDepth = 723.373254;
finalDepth = 740.657001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       82.3855040000001
#   Actual altitude:          82.3855040000001
#   Commanded vehicle depth:  740.657001
#   Seafloor depth:           -814.613251
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.72;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 1
#   Segment length 50.892456 meters
#   Minimum depth: 773.373254 meters looking forward 50.000000 meters along route
#   Maximum depth: 790.414108 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 723.373254 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 = 101;
# abortOnTimeout    = True;
initialDepth = 707.571575;
finalDepth = 723.373254;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       73.95625
#   Actual altitude:          73.95625
#   Commanded vehicle depth:  723.373254
#   Seafloor depth:           -790.414108
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.19;
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;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.141401 meters
#   Minimum depth: 757.571575 meters looking forward 50.000000 meters along route
#   Maximum depth: 773.204078 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 707.571575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776404;
longitude = -121.984351;
duration = 100;
initialDepth = 689.824676;
finalDepth = 707.571575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       67.0408540000001
#   Actual altitude:          67.0408540000001
#   Commanded vehicle depth:  707.571575
#   Seafloor depth:           -773.204078
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.11;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.141355 meters
#   Minimum depth: 739.824676 meters looking forward 50.000000 meters along route
#   Maximum depth: 757.018604 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 689.824676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776810;
longitude = -121.984104;
duration = 100;
initialDepth = 673.533408;
finalDepth = 689.824676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       67.193928
#   Actual altitude:          67.193928
#   Commanded vehicle depth:  689.824676
#   Seafloor depth:           -757.018604
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.16;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.141310 meters
#   Minimum depth: 723.533408 meters looking forward 50.000000 meters along route
#   Maximum depth: 739.603396 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 673.533408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777216;
longitude = -121.983858;
duration = 100;
initialDepth = 664.611563;
finalDepth = 673.533408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       67.193928
#   Actual altitude:          67.193928
#   Commanded vehicle depth:  673.533408
#   Seafloor depth:           -739.603396
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.16;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.141264 meters
#   Minimum depth: 714.611563 meters looking forward 50.000000 meters along route
#   Maximum depth: 723.031586 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 664.611563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777623;
longitude = -121.983611;
duration = 100;
initialDepth = 650.059105;
finalDepth = 664.611563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       66.069988
#   Actual altitude:          66.069988
#   Commanded vehicle depth:  664.611563
#   Seafloor depth:           -723.031586
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.82;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.141218 meters
#   Minimum depth: 700.059105 meters looking forward 50.000000 meters along route
#   Maximum depth: 714.635635 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 650.059105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778029;
longitude = -121.983365;
duration = 100;
initialDepth = 637.316215;
finalDepth = 650.059105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       64.5765299999999
#   Actual altitude:          64.5765299999999
#   Commanded vehicle depth:  650.059105
#   Seafloor depth:           -714.635635
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.37;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.141173 meters
#   Minimum depth: 687.316215 meters looking forward 50.000000 meters along route
#   Maximum depth: 699.514989 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 637.316215 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778435;
longitude = -121.983118;
duration = 100;
initialDepth = 631.414185;
finalDepth = 637.316215;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       64.5765299999999
#   Actual altitude:          64.5765299999999
#   Commanded vehicle depth:  637.316215
#   Seafloor depth:           -699.514989
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.37;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.141127 meters
#   Minimum depth: 681.414185 meters looking forward 50.000000 meters along route
#   Maximum depth: 687.231724 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 631.414185 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778841;
longitude = -121.982872;
duration = 100;
initialDepth = 619.827223;
finalDepth = 631.414185;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       62.198774
#   Actual altitude:          62.198774
#   Commanded vehicle depth:  631.414185
#   Seafloor depth:           -687.231724
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.66;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.141081 meters
#   Minimum depth: 669.827223 meters looking forward 50.000000 meters along route
#   Maximum depth: 680.865673 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 619.827223 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779247;
longitude = -121.982625;
duration = 100;
initialDepth = 607.077088;
finalDepth = 619.827223;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.03845
#   Actual altitude:          61.03845
#   Commanded vehicle depth:  619.827223
#   Seafloor depth:           -680.865673
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.31;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.161154 meters
#   Minimum depth: 657.077088 meters looking forward 50.000000 meters along route
#   Maximum depth: 669.538484 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 607.077088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779653;
longitude = -121.982379;
duration = 100;
initialDepth = 595.617720;
finalDepth = 607.077088;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       62.461396
#   Actual altitude:          62.461396
#   Commanded vehicle depth:  607.077088
#   Seafloor depth:           -669.538484
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.74;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.120871 meters
#   Minimum depth: 645.617720 meters looking forward 50.000000 meters along route
#   Maximum depth: 657.072787 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 595.617720 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780060;
longitude = -121.982132;
duration = 100;
initialDepth = 589.943445;
finalDepth = 595.617720;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       62.461396
#   Actual altitude:          62.461396
#   Commanded vehicle depth:  595.61772
#   Seafloor depth:           -657.072787
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.74;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140943 meters
#   Minimum depth: 639.943445 meters looking forward 50.000000 meters along route
#   Maximum depth: 645.440356 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 589.943445 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780466;
longitude = -121.981886;
duration = 100;
initialDepth = 583.285839;
finalDepth = 589.943445;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.455067
#   Actual altitude:          61.455067
#   Commanded vehicle depth:  589.943445
#   Seafloor depth:           -645.440356
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.44;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140898 meters
#   Minimum depth: 633.285839 meters looking forward 50.000000 meters along route
#   Maximum depth: 639.932655 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 583.285839 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780872;
longitude = -121.981639;
duration = 100;
initialDepth = 572.425956;
finalDepth = 583.285839;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       56.6468159999999
#   Actual altitude:          56.6468159999999
#   Commanded vehicle depth:  583.285839
#   Seafloor depth:           -639.932655
#
behavior reson
{
duration = 6;
MB_Range = 198.26;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.99;
MB_Bottom_Detect_Filter_Max_Range = 198.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 198.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140853 meters
#   Minimum depth: 622.425956 meters looking forward 50.000000 meters along route
#   Maximum depth: 633.012632 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 572.425956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781278;
longitude = -121.981393;
duration = 100;
initialDepth = 564.141633;
finalDepth = 572.425956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.586676
#   Actual altitude:          60.586676
#   Commanded vehicle depth:  572.425956
#   Seafloor depth:           -633.012632
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.18;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140806 meters
#   Minimum depth: 614.141633 meters looking forward 50.000000 meters along route
#   Maximum depth: 622.369903 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 564.141633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781684;
longitude = -121.981146;
duration = 100;
initialDepth = 548.979995;
finalDepth = 564.141633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.586676
#   Actual altitude:          60.586676
#   Commanded vehicle depth:  564.141633
#   Seafloor depth:           -622.369903
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.18;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140761 meters
#   Minimum depth: 598.979995 meters looking forward 50.000000 meters along route
#   Maximum depth: 613.820558 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 548.979995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782090;
longitude = -121.980899;
duration = 100;
initialDepth = 533.063592;
finalDepth = 548.979995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       64.840563
#   Actual altitude:          64.840563
#   Commanded vehicle depth:  548.979995
#   Seafloor depth:           -613.820558
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.45;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140715 meters
#   Minimum depth: 583.063592 meters looking forward 50.000000 meters along route
#   Maximum depth: 598.870206 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 533.063592 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782496;
longitude = -121.980653;
duration = 100;
initialDepth = 517.301691;
finalDepth = 533.063592;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       65.8066140000001
#   Actual altitude:          65.8066140000001
#   Commanded vehicle depth:  533.063592
#   Seafloor depth:           -598.870206
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.74;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140670 meters
#   Minimum depth: 567.301691 meters looking forward 50.000000 meters along route
#   Maximum depth: 582.446125 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 517.301691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782902;
longitude = -121.980406;
duration = 100;
initialDepth = 500.423928;
finalDepth = 517.301691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       65.8066140000001
#   Actual altitude:          65.8066140000001
#   Commanded vehicle depth:  517.301691
#   Seafloor depth:           -582.446125
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.74;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140623 meters
#   Minimum depth: 550.423928 meters looking forward 50.000000 meters along route
#   Maximum depth: 567.180841 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 500.423928 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783309;
longitude = -121.980160;
duration = 100;
initialDepth = 481.124257;
finalDepth = 500.423928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       66.7569129999999
#   Actual altitude:          66.7569129999999
#   Commanded vehicle depth:  500.423928
#   Seafloor depth:           -567.180841
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.03;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140578 meters
#   Minimum depth: 531.124257 meters looking forward 50.000000 meters along route
#   Maximum depth: 549.807406 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 481.124257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783715;
longitude = -121.979913;
duration = 100;
initialDepth = 466.422347;
finalDepth = 481.124257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       68.6831490000001
#   Actual altitude:          68.6831490000001
#   Commanded vehicle depth:  481.124257
#   Seafloor depth:           -549.807406
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.60;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140532 meters
#   Minimum depth: 516.422347 meters looking forward 50.000000 meters along route
#   Maximum depth: 530.900651 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 466.422347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784121;
longitude = -121.979667;
duration = 100;
initialDepth = 455.219102;
finalDepth = 466.422347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       68.6831490000001
#   Actual altitude:          68.6831490000001
#   Commanded vehicle depth:  466.422347
#   Seafloor depth:           -530.900651
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.60;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140487 meters
#   Minimum depth: 505.219102 meters looking forward 50.000000 meters along route
#   Maximum depth: 515.752744 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 455.219102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784527;
longitude = -121.979420;
duration = 100;
initialDepth = 446.713399;
finalDepth = 455.219102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       64.4783040000001
#   Actual altitude:          64.4783040000001
#   Commanded vehicle depth:  455.219102
#   Seafloor depth:           -515.752744
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.34;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140440 meters
#   Minimum depth: 496.713399 meters looking forward 50.000000 meters along route
#   Maximum depth: 505.048043 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 446.713399 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784933;
longitude = -121.979174;
duration = 100;
initialDepth = 437.174788;
finalDepth = 446.713399;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.533642
#   Actual altitude:          60.533642
#   Commanded vehicle depth:  446.713399
#   Seafloor depth:           -505.048043
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.16;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140395 meters
#   Minimum depth: 487.174788 meters looking forward 50.000000 meters along route
#   Maximum depth: 496.327796 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 437.174788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785339;
longitude = -121.978927;
duration = 100;
initialDepth = 421.705354;
finalDepth = 437.174788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       59.153008
#   Actual altitude:          59.153008
#   Commanded vehicle depth:  437.174788
#   Seafloor depth:           -496.327796
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.75;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.165218 meters
#   Minimum depth: 471.705354 meters looking forward 50.000000 meters along route
#   Maximum depth: 486.969581 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 421.705354 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785745;
longitude = -121.978681;
duration = 100;
initialDepth = 404.557379;
finalDepth = 421.705354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       65.264227
#   Actual altitude:          65.264227
#   Commanded vehicle depth:  421.705354
#   Seafloor depth:           -486.969581
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.58;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.115435 meters
#   Minimum depth: 454.557379 meters looking forward 50.000000 meters along route
#   Maximum depth: 471.702784 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 404.557379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786152;
longitude = -121.978434;
duration = 100;
initialDepth = 382.133353;
finalDepth = 404.557379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       67.145405
#   Actual altitude:          67.145405
#   Commanded vehicle depth:  404.557379
#   Seafloor depth:           -471.702784
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.14;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140257 meters
#   Minimum depth: 432.133353 meters looking forward 50.000000 meters along route
#   Maximum depth: 454.039364 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 382.133353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786558;
longitude = -121.978188;
duration = 100;
initialDepth = 360.357804;
finalDepth = 382.133353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       71.906011
#   Actual altitude:          71.906011
#   Commanded vehicle depth:  382.133353
#   Seafloor depth:           -454.039364
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.57;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140212 meters
#   Minimum depth: 410.357804 meters looking forward 50.000000 meters along route
#   Maximum depth: 432.033722 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 360.357804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786964;
longitude = -121.977941;
duration = 100;
initialDepth = 332.602323;
finalDepth = 360.357804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       71.906011
#   Actual altitude:          71.906011
#   Commanded vehicle depth:  360.357804
#   Seafloor depth:           -432.033722
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.57;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140167 meters
#   Minimum depth: 382.602323 meters looking forward 50.000000 meters along route
#   Maximum depth: 409.899190 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 332.602323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787370;
longitude = -121.977695;
duration = 100;
initialDepth = 309.602025;
finalDepth = 332.602323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       77.296867
#   Actual altitude:          77.296867
#   Commanded vehicle depth:  332.602323
#   Seafloor depth:           -409.899190
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.19;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140120 meters
#   Minimum depth: 359.602025 meters looking forward 50.000000 meters along route
#   Maximum depth: 382.467709 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 309.602025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787776;
longitude = -121.977448;
duration = 100;
initialDepth = 296.576386;
finalDepth = 309.602025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       77.296867
#   Actual altitude:          77.296867
#   Commanded vehicle depth:  309.602025
#   Seafloor depth:           -382.467709
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.19;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140075 meters
#   Minimum depth: 346.576386 meters looking forward 50.000000 meters along route
#   Maximum depth: 358.973343 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 296.576386 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788182;
longitude = -121.977202;
duration = 100;
initialDepth = 286.104707;
finalDepth = 296.576386;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       72.865684
#   Actual altitude:          72.865684
#   Commanded vehicle depth:  296.576386
#   Seafloor depth:           -358.973343
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.86;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.140029 meters
#   Minimum depth: 336.104707 meters looking forward 50.000000 meters along route
#   Maximum depth: 346.547641 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 286.104707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788588;
longitude = -121.976955;
duration = 100;
initialDepth = 277.190087;
finalDepth = 286.104707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       62.396957
#   Actual altitude:          62.396957
#   Commanded vehicle depth:  286.104707
#   Seafloor depth:           -346.547641
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.72;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139983 meters
#   Minimum depth: 327.190087 meters looking forward 50.000000 meters along route
#   Maximum depth: 335.914583 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 277.190087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788994;
longitude = -121.976709;
duration = 100;
initialDepth = 268.707415;
finalDepth = 277.190087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.442934
#   Actual altitude:          60.442934
#   Commanded vehicle depth:  277.190087
#   Seafloor depth:           -335.914583
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.13;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139938 meters
#   Minimum depth: 318.707415 meters looking forward 50.000000 meters along route
#   Maximum depth: 327.087448 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 268.707415 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789401;
longitude = -121.976462;
duration = 100;
initialDepth = 258.915758;
finalDepth = 268.707415;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       58.724496
#   Actual altitude:          58.724496
#   Commanded vehicle depth:  268.707415
#   Seafloor depth:           -327.087448
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.62;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139891 meters
#   Minimum depth: 308.915758 meters looking forward 50.000000 meters along route
#   Maximum depth: 318.379302 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 258.915758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789807;
longitude = -121.976216;
duration = 100;
initialDepth = 250.183989;
finalDepth = 258.915758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       59.463544
#   Actual altitude:          59.463544
#   Commanded vehicle depth:  258.915758
#   Seafloor depth:           -318.379302
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.84;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139846 meters
#   Minimum depth: 300.183989 meters looking forward 50.000000 meters along route
#   Maximum depth: 308.824449 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 250.183989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790213;
longitude = -121.975969;
duration = 100;
initialDepth = 240.686543;
finalDepth = 250.183989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       59.463544
#   Actual altitude:          59.463544
#   Commanded vehicle depth:  250.183989
#   Seafloor depth:           -308.824449
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.84;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139801 meters
#   Minimum depth: 290.686543 meters looking forward 50.000000 meters along route
#   Maximum depth: 299.811976 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 240.686543 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790619;
longitude = -121.975722;
duration = 100;
initialDepth = 230.940257;
finalDepth = 240.686543;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       59.125433
#   Actual altitude:          59.125433
#   Commanded vehicle depth:  240.686543
#   Seafloor depth:           -299.811976
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.74;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139754 meters
#   Minimum depth: 280.940257 meters looking forward 50.000000 meters along route
#   Maximum depth: 290.499164 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 230.940257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791025;
longitude = -121.975476;
duration = 100;
initialDepth = 219.966806;
finalDepth = 230.940257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       59.558907
#   Actual altitude:          59.558907
#   Commanded vehicle depth:  230.940257
#   Seafloor depth:           -290.499164
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.87;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139709 meters
#   Minimum depth: 269.966806 meters looking forward 50.000000 meters along route
#   Maximum depth: 280.442216 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 219.966806 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791431;
longitude = -121.975229;
duration = 100;
initialDepth = 210.623507;
finalDepth = 219.966806;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.47541
#   Actual altitude:          60.47541
#   Commanded vehicle depth:  219.966806
#   Seafloor depth:           -280.442216
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.14;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.169282 meters
#   Minimum depth: 260.623507 meters looking forward 50.000000 meters along route
#   Maximum depth: 269.973291 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 210.623507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791837;
longitude = -121.974983;
duration = 100;
initialDepth = 200.296484;
finalDepth = 210.623507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.47541
#   Actual altitude:          60.47541
#   Commanded vehicle depth:  210.623507
#   Seafloor depth:           -269.763950
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.14;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.109999 meters
#   Minimum depth: 250.296484 meters looking forward 50.000000 meters along route
#   Maximum depth: 260.617151 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 200.296484 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792244;
longitude = -121.974736;
duration = 100;
initialDepth = 188.797567;
finalDepth = 200.296484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.320667
#   Actual altitude:          60.320667
#   Commanded vehicle depth:  200.296484
#   Seafloor depth:           -260.617151
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.10;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139571 meters
#   Minimum depth: 238.797567 meters looking forward 50.000000 meters along route
#   Maximum depth: 250.113647 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 188.797567 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792650;
longitude = -121.974490;
duration = 100;
initialDepth = 178.182172;
finalDepth = 188.797567;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.31608
#   Actual altitude:          61.31608
#   Commanded vehicle depth:  188.797567
#   Seafloor depth:           -250.113647
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.39;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139526 meters
#   Minimum depth: 228.182172 meters looking forward 50.000000 meters along route
#   Maximum depth: 238.780460 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 178.182172 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793056;
longitude = -121.974243;
duration = 100;
initialDepth = 166.591200;
finalDepth = 178.182172;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.31608
#   Actual altitude:          61.31608
#   Commanded vehicle depth:  178.182172
#   Seafloor depth:           -238.780460
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.39;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139480 meters
#   Minimum depth: 216.591200 meters looking forward 50.000000 meters along route
#   Maximum depth: 227.952479 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 166.591200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793462;
longitude = -121.973997;
duration = 100;
initialDepth = 155.801706;
finalDepth = 166.591200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.361279
#   Actual altitude:          61.361279
#   Commanded vehicle depth:  166.5912
#   Seafloor depth:           -227.952479
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.41;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139435 meters
#   Minimum depth: 205.801706 meters looking forward 50.000000 meters along route
#   Maximum depth: 216.532836 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 155.801706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793868;
longitude = -121.973750;
duration = 100;
initialDepth = 147.229907;
finalDepth = 155.801706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.361279
#   Actual altitude:          61.361279
#   Commanded vehicle depth:  155.801706
#   Seafloor depth:           -216.532836
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.41;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139389 meters
#   Minimum depth: 197.229907 meters looking forward 50.000000 meters along route
#   Maximum depth: 205.532787 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 147.229907 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794274;
longitude = -121.973504;
duration = 100;
initialDepth = 140.102805;
finalDepth = 147.229907;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.73113
#   Actual altitude:          60.73113
#   Commanded vehicle depth:  147.229907
#   Seafloor depth:           -205.532787
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.22;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139343 meters
#   Minimum depth: 190.102805 meters looking forward 50.000000 meters along route
#   Maximum depth: 197.163982 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 140.102805 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794680;
longitude = -121.973257;
duration = 100;
initialDepth = 130.107536;
finalDepth = 140.102805;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       58.30288
#   Actual altitude:          58.30288
#   Commanded vehicle depth:  140.102805
#   Seafloor depth:           -197.163982
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.49;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139297 meters
#   Minimum depth: 180.107536 meters looking forward 50.000000 meters along route
#   Maximum depth: 189.805111 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 130.107536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795086;
longitude = -121.973011;
duration = 100;
initialDepth = 118.251219;
finalDepth = 130.107536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       59.697575
#   Actual altitude:          59.697575
#   Commanded vehicle depth:  130.107536
#   Seafloor depth:           -189.805111
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.91;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139251 meters
#   Minimum depth: 168.251219 meters looking forward 50.000000 meters along route
#   Maximum depth: 179.937631 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 118.251219 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795493;
longitude = -121.972764;
duration = 100;
initialDepth = 103.934571;
finalDepth = 118.251219;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.686412
#   Actual altitude:          61.686412
#   Commanded vehicle depth:  118.251219
#   Seafloor depth:           -179.937631
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.51;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139206 meters
#   Minimum depth: 153.934571 meters looking forward 50.000000 meters along route
#   Maximum depth: 167.968149 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 103.934571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795899;
longitude = -121.972518;
duration = 100;
initialDepth = 91.771275;
finalDepth = 103.934571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       64.033578
#   Actual altitude:          64.033578
#   Commanded vehicle depth:  103.934571
#   Seafloor depth:           -167.968149
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.21;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139160 meters
#   Minimum depth: 141.771275 meters looking forward 50.000000 meters along route
#   Maximum depth: 153.727051 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 91.771275 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796305;
longitude = -121.972271;
duration = 100;
initialDepth = 77.376896;
finalDepth = 91.771275;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       64.033578
#   Actual altitude:          64.033578
#   Commanded vehicle depth:  91.771275
#   Seafloor depth:           -153.727051
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.21;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139114 meters
#   Minimum depth: 127.376896 meters looking forward 50.000000 meters along route
#   Maximum depth: 140.977188 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 77.376896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796711;
longitude = -121.972025;
duration = 100;
initialDepth = 65.973237;
finalDepth = 77.376896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       63.600292
#   Actual altitude:          63.600292
#   Commanded vehicle depth:  77.376896
#   Seafloor depth:           -140.977188
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.08;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139069 meters
#   Minimum depth: 115.973237 meters looking forward 50.000000 meters along route
#   Maximum depth: 127.162885 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 65.973237 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797117;
longitude = -121.971778;
duration = 100;
initialDepth = 60.174660;
finalDepth = 65.973237;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       63.600292
#   Actual altitude:          63.600292
#   Commanded vehicle depth:  65.973237
#   Seafloor depth:           -127.162885
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.08;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.139023 meters
#   Minimum depth: 110.174660 meters looking forward 50.000000 meters along route
#   Maximum depth: 115.421266 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 60.174660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797523;
longitude = -121.971532;
duration = 100;
initialDepth = 56.231134;
finalDepth = 60.174660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       61.189648
#   Actual altitude:          61.189648
#   Commanded vehicle depth:  60.17466
#   Seafloor depth:           -115.421266
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.36;
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;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.173346 meters
#   Minimum depth: 106.231134 meters looking forward 50.000000 meters along route
#   Maximum depth: 110.152167 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 56.231134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797929;
longitude = -121.971285;
duration = 100;
initialDepth = 54.482269;
finalDepth = 56.231134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       55.246606
#   Actual altitude:          55.246606
#   Commanded vehicle depth:  56.231134
#   Seafloor depth:           -110.152167
#
behavior reson
{
duration = 6;
MB_Range = 193.36;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.57;
MB_Bottom_Detect_Filter_Max_Range = 193.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 193.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.104562 meters
#   Minimum depth: 104.482269 meters looking forward 50.000000 meters along route
#   Maximum depth: 106.549591 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 54.482269 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798336;
longitude = -121.971038;
duration = 100;
initialDepth = 53.406836;
finalDepth = 54.482269;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       53.921033
#   Actual altitude:          53.921033
#   Commanded vehicle depth:  54.482269
#   Seafloor depth:           -106.228520
#
behavior reson
{
duration = 6;
MB_Range = 188.72;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.18;
MB_Bottom_Detect_Filter_Max_Range = 188.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 188.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.138886 meters
#   Minimum depth: 103.406836 meters looking forward 50.000000 meters along route
#   Maximum depth: 104.514350 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 53.406836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798742;
longitude = -121.970792;
duration = 100;
initialDepth = 52.623845;
finalDepth = 53.406836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.746251
#   Actual altitude:          51.746251
#   Commanded vehicle depth:  53.406836
#   Seafloor depth:           -104.514350
#
behavior reson
{
duration = 6;
MB_Range = 181.11;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 181.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.138840 meters
#   Minimum depth: 102.623845 meters looking forward 50.000000 meters along route
#   Maximum depth: 103.788660 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 52.623845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799148;
longitude = -121.970546;
duration = 100;
initialDepth = 51.047779;
finalDepth = 52.623845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.107514
#   Actual altitude:          51.107514
#   Commanded vehicle depth:  52.623845
#   Seafloor depth:           -103.412310
#
behavior reson
{
duration = 6;
MB_Range = 178.88;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 178.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 178.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.138794 meters
#   Minimum depth: 101.047779 meters looking forward 50.000000 meters along route
#   Maximum depth: 102.558387 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 51.047779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799554;
longitude = -121.970299;
duration = 100;
initialDepth = 49.545397;
finalDepth = 51.047779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.486826
#   Actual altitude:          51.486826
#   Commanded vehicle depth:  51.047779
#   Seafloor depth:           -102.534605
#
behavior reson
{
duration = 6;
MB_Range = 180.20;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 180.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 180.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 51.658104 meters
#   Minimum depth: 99.545397 meters looking forward 50.000000 meters along route
#   Maximum depth: 101.488332 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 49.545397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799960;
longitude = -121.970052;
duration = 103;
initialDepth = 49.545397;
finalDepth = 49.545397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       51.883032
#   Actual altitude:          51.883032
#   Commanded vehicle depth:  49.545397
#   Seafloor depth:           -101.428429
#
behavior reson
{
duration = 6;
MB_Range = 181.59;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 181.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#
#######################################################
# Turn Mapping sonars on and start logging.
#
behavior reson
{
duration = 6;
Log_Mode = 1;
}
# Set sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       51.883032
#   Sonar parameter altitude: 51.883032
#   Commanded vehicle depth:  49.545397
#   Seafloor depth:           -100.014852
#
behavior reson
{
duration = 6;
MB_Power = 220;
MB_Range = 181.59;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 181.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 181.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
#
#######################################################
#
# Waypoint_depth behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 99.545397 meters looking forward 50.000000 meters along route
#   Maximum depth: 101.488332 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 1007.315831 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 49.545397 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 = 49.545397;
finalDepth = 49.545397;
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 = 90.0;
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 = 90.0;
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 = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
#
#######################################################
#######################################################
#######################################################
#######################################################
