

# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <deitz> at <Thu Feb 21 07:29:00 PST 2013>
#
# Mission Summary:
#     Route File:               2013_NearshoreWallTest_1v4.rte
#     Mission File:             2013_NearshoreWallTest_1v4.cfg
#     Distance:                 6921.497054 (m)
#     Estimated Time:           5568 (s)  1.547 (hr)
#     Abort Time:               7239 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               31
#     Route Points:             63
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control disabled:
#     Benthic imaging camera control disabled:
#
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 50 (m)
#     Abort Vehicle Altitude 1:   25 (m)
#     Delta Depth Restart 1:      25 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      325.559487 (m)
#     Abort Vehicle Depth:        350.559487 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   100 (m)
#     Waypoint Spacing:           100 (m)
#     GPS Duration:               600 (s)
#     Descend Rate:               0.417 (m/s)
#     Ascend Rate:                1 (m/s)
#     Initial descend Duration:   300 (s)
#     Setpoint Duration:          30 (s)
#
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.866225 36.808983 -78.922873 0.000000 3
#   1 -121.867793 36.802673 -226.811447 713.893345 1
#   2 -121.865676 36.799009 -329.815674 1162.127691 3
#   3 -121.864892 36.798883 -341.301575 1233.460113 1
#   4 -121.864324 36.799646 -351.865517 1332.120140 1
#   5 -121.863054 36.800703 -355.450050 1495.186237 1
#   6 -121.862494 36.802415 -349.968819 1691.583007 1
#   7 -121.861665 36.802866 -348.254959 1780.878877 1
#   8 -121.860544 36.803190 -342.768265 1887.154058 1
#   9 -121.858759 36.803454 -309.177986 2049.075782 3
#   10 -121.855853 36.803881 -282.834625 2312.629242 1
#   11 -121.855360 36.805341 -225.813374 2480.472518 1
#   12 -121.858766 36.805359 -267.118248 2784.341236 1
#   13 -121.860925 36.805137 -252.647038 2978.522247 1
#   14 -121.862942 36.804632 -204.840229 3166.987669 1
#   15 -121.865131 36.803196 -228.777267 3419.020151 1
#   16 -121.866326 36.800126 -273.474091 3775.913586 1
#   17 -121.865669 36.799015 -329.815674 3912.400321 3
#   18 -121.864892 36.798883 -341.301575 3983.254992 1
#   19 -121.864324 36.799646 -351.865517 4081.915019 1
#   20 -121.863047 36.800709 -355.450050 4245.893786 1
#   21 -121.862494 36.802415 -349.968819 4441.488402 1
#   22 -121.861680 36.802890 -348.492584 4531.216487 1
#   23 -121.860514 36.803196 -342.998032 4640.642217 1
#   24 -121.858766 36.803449 -309.177986 4799.097796 3
#   25 -121.855860 36.803893 -282.455902 5062.996778 1
#   26 -121.855337 36.805341 -226.113239 5230.282296 1
#   27 -121.854067 36.808814 -187.098217 5631.902859 1
#   28 -121.857975 36.810395 -177.337563 6022.168984 1
#   29 -121.863201 36.811236 -100.732372 6497.611851 1
#   30 -121.867905 36.810696 -76.739689 6921.497054 4
#
# A total of 63 mission points have been defined.
#
# Define Mission parameters:
#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 7239;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 325.559487;
abortDepth = 350.559487;
minAltitude = 50.000000;
abortAltitude = 25.000000;
deltaDepthRestart = 25.000000;
}
#######################################################
# Set End-of-Mission Behaviors
#
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#
# ascend behavior
behavior ascend
{
duration = 300;
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 delta_t
{
duration = 6;
logMode = 0;
}
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 30
#   Segment length 121.409753 meters
#   Minimum depth: 70.960734 meters looking forward 100.000000 meters along route
#   Maximum depth: 77.028719 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 20.960734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810696;
longitude = -121.867905;
duration = 242;
# abortOnTimeout    = True;
initialDepth = 21.143474;
finalDepth = 20.960734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       55.778955
#   Actual altitude:          55.778955
#   Commanded vehicle depth:  20.960734
#   Seafloor depth:           -76.739689
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 30
#   Segment length 100.975430 meters
#   Minimum depth: 71.143474 meters looking forward 100.000000 meters along route
#   Maximum depth: 73.387118 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 21.143474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810851;
longitude = -121.866558;
duration = 201;
initialDepth = 22.315203;
finalDepth = 21.143474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       55.778955
#   Actual altitude:          55.778955
#   Commanded vehicle depth:  21.143474
#   Seafloor depth:           -71.514450
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 30
#   Segment length 100.975290 meters
#   Minimum depth: 72.315203 meters looking forward 100.000000 meters along route
#   Maximum depth: 80.633943 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 22.315203 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810979;
longitude = -121.865437;
duration = 201;
initialDepth = 31.139591;
finalDepth = 22.315203;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.370976
#   Actual altitude:          50.370976
#   Commanded vehicle depth:  22.315203
#   Seafloor depth:           -72.486957
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 30
#   Segment length 100.524730 meters
#   Minimum depth: 81.139591 meters looking forward 100.000000 meters along route
#   Maximum depth: 100.490114 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 31.139591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811108;
longitude = -121.864317;
duration = 201;
initialDepth = 50.732372;
finalDepth = 31.139591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50.171754
#   Actual altitude:          50.171754
#   Commanded vehicle depth:  31.139591
#   Seafloor depth:           -81.139591
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 29
#   Segment length 171.720727 meters
#   Minimum depth: 100.732372 meters looking forward 100.000000 meters along route
#   Maximum depth: 149.015651 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 50.732372 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811236;
longitude = -121.863201;
duration = 343;
# abortOnTimeout    = True;
initialDepth = 99.169989;
finalDepth = 50.732372;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  50.732372
#   Seafloor depth:           -100.732372
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 29
#   Segment length 101.944383 meters
#   Minimum depth: 149.169989 meters looking forward 100.000000 meters along route
#   Maximum depth: 162.469027 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 99.169989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810932;
longitude = -121.861313;
duration = 203;
initialDepth = 112.544228;
finalDepth = 99.169989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  99.169989
#   Seafloor depth:           -149.169989
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 29
#   Segment length 100.532854 meters
#   Minimum depth: 162.544228 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.208242 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 112.544228 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810752;
longitude = -121.860193;
duration = 201;
initialDepth = 121.309664;
finalDepth = 112.544228;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  112.544228
#   Seafloor depth:           -162.544228
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 29
#   Segment length 101.244903 meters
#   Minimum depth: 171.309664 meters looking forward 100.000000 meters along route
#   Maximum depth: 177.270676 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 121.309664 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810574;
longitude = -121.859088;
duration = 202;
initialDepth = 126.813740;
finalDepth = 121.309664;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  121.309664
#   Seafloor depth:           -171.309664
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 28
#   Segment length 87.363566 meters
#   Minimum depth: 176.813740 meters looking forward 100.000000 meters along route
#   Maximum depth: 179.672841 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 126.813740 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810395;
longitude = -121.857975;
duration = 174;
# abortOnTimeout    = True;
initialDepth = 129.377053;
finalDepth = 126.813740;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.523823
#   Actual altitude:          50.523823
#   Commanded vehicle depth:  126.81374
#   Seafloor depth:           -177.337563
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 28
#   Segment length 100.712235 meters
#   Minimum depth: 179.377053 meters looking forward 100.000000 meters along route
#   Maximum depth: 181.555236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 129.377053 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810041;
longitude = -121.857100;
duration = 201;
initialDepth = 129.302307;
finalDepth = 129.377053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.523823
#   Actual altitude:          50.523823
#   Commanded vehicle depth:  129.377053
#   Seafloor depth:           -179.532873
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 28
#   Segment length 101.402857 meters
#   Minimum depth: 179.302307 meters looking forward 100.000000 meters along route
#   Maximum depth: 181.280261 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 129.302307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809633;
longitude = -121.856092;
duration = 202;
initialDepth = 129.554294;
finalDepth = 129.302307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.886697
#   Actual altitude:          51.886697
#   Commanded vehicle depth:  129.302307
#   Seafloor depth:           -181.189004
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 28
#   Segment length 100.787467 meters
#   Minimum depth: 179.554294 meters looking forward 100.000000 meters along route
#   Maximum depth: 187.029060 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 129.554294 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809222;
longitude = -121.855076;
duration = 201;
initialDepth = 137.098217;
finalDepth = 129.554294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       51.886697
#   Actual altitude:          51.886697
#   Commanded vehicle depth:  129.554294
#   Seafloor depth:           -179.554294
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 27
#   Segment length 100.769535 meters
#   Minimum depth: 187.098217 meters looking forward 100.000000 meters along route
#   Maximum depth: 190.576142 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 137.098217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808814;
longitude = -121.854067;
duration = 201;
# abortOnTimeout    = True;
initialDepth = 139.626017;
finalDepth = 137.098217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  137.098217
#   Seafloor depth:           -187.098217
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 27
#   Segment length 100.046355 meters
#   Minimum depth: 189.626017 meters looking forward 100.000000 meters along route
#   Maximum depth: 196.017961 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 139.626017 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807943;
longitude = -121.854386;
duration = 200;
initialDepth = 145.975664;
finalDepth = 139.626017;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.771204
#   Actual altitude:          50.771204
#   Commanded vehicle depth:  139.626017
#   Seafloor depth:           -190.397221
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 27
#   Segment length 100.046424 meters
#   Minimum depth: 195.975664 meters looking forward 100.000000 meters along route
#   Maximum depth: 220.683562 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 145.975664 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807077;
longitude = -121.854702;
duration = 200;
initialDepth = 171.050170;
finalDepth = 145.975664;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.123254
#   Actual altitude:          51.123254
#   Commanded vehicle depth:  145.975664
#   Seafloor depth:           -197.098918
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 27
#   Segment length 100.758249 meters
#   Minimum depth: 221.050170 meters looking forward 100.000000 meters along route
#   Maximum depth: 228.969013 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 171.050170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806212;
longitude = -121.855018;
duration = 201;
initialDepth = 176.113239;
finalDepth = 171.050170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       51.123254
#   Actual altitude:          51.123254
#   Commanded vehicle depth:  171.05017
#   Seafloor depth:           -221.050170
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 26
#   Segment length 167.285518 meters
#   Minimum depth: 226.113239 meters looking forward 100.000000 meters along route
#   Maximum depth: 282.294288 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 176.113239 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805341;
longitude = -121.855337;
duration = 334;
# abortOnTimeout    = True;
initialDepth = 230.746713;
finalDepth = 176.113239;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  176.113239
#   Seafloor depth:           -226.113239
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 25
#   Segment length 163.501215 meters
#   Minimum depth: 280.746713 meters looking forward 100.000000 meters along route
#   Maximum depth: 296.201815 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 230.746713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803893;
longitude = -121.855860;
duration = 327;
# abortOnTimeout    = True;
initialDepth = 244.924298;
finalDepth = 230.746713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.709189
#   Actual altitude:          51.709189
#   Commanded vehicle depth:  230.746713
#   Seafloor depth:           -282.455902
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 25
#   Segment length 100.397767 meters
#   Minimum depth: 294.924298 meters looking forward 100.000000 meters along route
#   Maximum depth: 309.083109 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 244.924298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803618;
longitude = -121.857660;
duration = 200;
initialDepth = 259.177986;
finalDepth = 244.924298;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       51.709189
#   Actual altitude:          51.709189
#   Commanded vehicle depth:  244.924298
#   Seafloor depth:           -296.375138
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 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 24
#   Segment length 158.455579 meters
#   Minimum depth: 309.177986 meters looking forward 100.000000 meters along route
#   Maximum depth: 345.240293 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 259.177986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803449;
longitude = -121.858766;
duration = 316;
# abortOnTimeout    = True;
initialDepth = 292.998032;
finalDepth = 259.177986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       51.45084
#   Actual altitude:          51.45084
#   Commanded vehicle depth:  259.177986
#   Seafloor depth:           -309.177986
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 23
#   Segment length 109.425730 meters
#   Minimum depth: 342.998032 meters looking forward 100.000000 meters along route
#   Maximum depth: 348.364779 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 292.998032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803196;
longitude = -121.860514;
duration = 218;
# abortOnTimeout    = True;
initialDepth = 295.538381;
finalDepth = 292.998032;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  292.998032
#   Seafloor depth:           -342.998032
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 22
#   Segment length 89.728085 meters
#   Minimum depth: 345.538381 meters looking forward 100.000000 meters along route
#   Maximum depth: 351.854693 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 295.538381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802890;
longitude = -121.861680;
duration = 179;
# abortOnTimeout    = True;
initialDepth = 296.240824;
finalDepth = 295.538381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       52.954203
#   Actual altitude:          52.954203
#   Commanded vehicle depth:  295.538381
#   Seafloor depth:           -348.492584
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 21
#   Segment length 93.649043 meters
#   Minimum depth: 346.240824 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.808542 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.240824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802415;
longitude = -121.862494;
duration = 187;
# abortOnTimeout    = True;
initialDepth = 300.273254;
finalDepth = 296.240824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       53.727995
#   Actual altitude:          53.727995
#   Commanded vehicle depth:  296.240824
#   Seafloor depth:           -349.968819
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 21
#   Segment length 101.945573 meters
#   Minimum depth: 350.273254 meters looking forward 100.000000 meters along route
#   Maximum depth: 356.952226 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 300.273254 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801598;
longitude = -121.862759;
duration = 203;
initialDepth = 298.323452;
finalDepth = 300.273254;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       53.727995
#   Actual altitude:          53.727995
#   Commanded vehicle depth:  300.273254
#   Seafloor depth:           -352.927321
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 20
#   Segment length 163.978767 meters
#   Minimum depth: 348.323452 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.450050 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 298.323452 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800709;
longitude = -121.863047;
duration = 327;
# abortOnTimeout    = True;
initialDepth = 291.350532;
finalDepth = 298.323452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       57.126598
#   Actual altitude:          57.126598
#   Commanded vehicle depth:  298.323452
#   Seafloor depth:           -355.450050
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 19
#   Segment length 98.660027 meters
#   Minimum depth: 341.350532 meters looking forward 100.000000 meters along route
#   Maximum depth: 353.071423 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 291.350532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799646;
longitude = -121.864324;
duration = 197;
# abortOnTimeout    = True;
initialDepth = 279.891205;
finalDepth = 291.350532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       60.514985
#   Actual altitude:          60.514985
#   Commanded vehicle depth:  291.350532
#   Seafloor depth:           -351.865517
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 18
#   Segment length 70.854671 meters
#   Minimum depth: 329.891205 meters looking forward 100.000000 meters along route
#   Maximum depth: 342.817780 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 279.891205 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798883;
longitude = -121.864892;
duration = 141;
# abortOnTimeout    = True;
initialDepth = 223.681503;
finalDepth = 279.891205;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       61.41037
#   Actual altitude:          61.41037
#   Commanded vehicle depth:  279.891205
#   Seafloor depth:           -341.301575
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 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 17
#   Segment length 136.486735 meters
#   Minimum depth: 273.681503 meters looking forward 100.000000 meters along route
#   Maximum depth: 329.815674 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 223.681503 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799015;
longitude = -121.865669;
duration = 272;
# abortOnTimeout    = True;
initialDepth = 197.093836;
finalDepth = 223.681503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       106.134171
#   Actual altitude:          100
#   Commanded vehicle depth:  223.681503
#   Seafloor depth:           -329.815674
#
behavior delta_t
{
duration = 6;
receiveGain = 15;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 16
#   Segment length 154.381549 meters
#   Minimum depth: 247.093836 meters looking forward 100.000000 meters along route
#   Maximum depth: 273.474091 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 197.093836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800126;
longitude = -121.866326;
duration = 308;
# abortOnTimeout    = True;
initialDepth = 186.550275;
finalDepth = 197.093836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       106.134171
#   Actual altitude:          100
#   Commanded vehicle depth:  197.093836
#   Seafloor depth:           -273.474091
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 16
#   Segment length 100.575073 meters
#   Minimum depth: 236.550275 meters looking forward 100.000000 meters along route
#   Maximum depth: 246.927988 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 186.550275 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801454;
longitude = -121.865809;
duration = 201;
initialDepth = 179.082717;
finalDepth = 186.550275;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       76.380255
#   Actual altitude:          76.380255
#   Commanded vehicle depth:  186.550275
#   Seafloor depth:           -246.199839
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 16
#   Segment length 101.936813 meters
#   Minimum depth: 229.082717 meters looking forward 100.000000 meters along route
#   Maximum depth: 236.361775 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 179.082717 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802319;
longitude = -121.865472;
duration = 203;
initialDepth = 166.029626;
finalDepth = 179.082717;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       59.649564
#   Actual altitude:          59.649564
#   Commanded vehicle depth:  179.082717
#   Seafloor depth:           -236.141562
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 15
#   Segment length 150.538866 meters
#   Minimum depth: 216.029626 meters looking forward 100.000000 meters along route
#   Maximum depth: 228.777267 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 166.029626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803196;
longitude = -121.865131;
duration = 301;
# abortOnTimeout    = True;
initialDepth = 155.129117;
finalDepth = 166.029626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       62.747641
#   Actual altitude:          62.747641
#   Commanded vehicle depth:  166.029626
#   Seafloor depth:           -228.777267
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 15
#   Segment length 101.493616 meters
#   Minimum depth: 205.129117 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.967491 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 155.129117 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804054;
longitude = -121.863824;
duration = 202;
initialDepth = 151.178786;
finalDepth = 155.129117;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       62.747641
#   Actual altitude:          62.747641
#   Commanded vehicle depth:  155.129117
#   Seafloor depth:           -215.967491
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 14
#   Segment length 87.252095 meters
#   Minimum depth: 201.178786 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.773372 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 151.178786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804632;
longitude = -121.862942;
duration = 174;
# abortOnTimeout    = True;
initialDepth = 159.045203;
finalDepth = 151.178786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.838374
#   Actual altitude:          60.838374
#   Commanded vehicle depth:  151.178786
#   Seafloor depth:           -204.840229
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 14
#   Segment length 101.213327 meters
#   Minimum depth: 209.045203 meters looking forward 100.000000 meters along route
#   Maximum depth: 253.504079 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 159.045203 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804866;
longitude = -121.862008;
duration = 202;
initialDepth = 201.409193;
finalDepth = 159.045203;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       53.661443
#   Actual altitude:          53.661443
#   Commanded vehicle depth:  159.045203
#   Seafloor depth:           -210.199277
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 13
#   Segment length 94.064215 meters
#   Minimum depth: 251.409193 meters looking forward 100.000000 meters along route
#   Maximum depth: 265.250769 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 201.409193 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805137;
longitude = -121.860925;
duration = 188;
# abortOnTimeout    = True;
initialDepth = 215.583840;
finalDepth = 201.409193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.237845
#   Actual altitude:          51.237845
#   Commanded vehicle depth:  201.409193
#   Seafloor depth:           -252.647038
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 13
#   Segment length 100.116796 meters
#   Minimum depth: 265.583840 meters looking forward 100.000000 meters along route
#   Maximum depth: 269.365556 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 215.583840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805245;
longitude = -121.859879;
duration = 200;
initialDepth = 206.122809;
finalDepth = 215.583840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       51.237845
#   Actual altitude:          51.237845
#   Commanded vehicle depth:  215.58384
#   Seafloor depth:           -265.583840
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 12
#   Segment length 100.632485 meters
#   Minimum depth: 256.122809 meters looking forward 100.000000 meters along route
#   Maximum depth: 267.118248 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 206.122809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805359;
longitude = -121.858766;
duration = 201;
# abortOnTimeout    = True;
initialDepth = 187.857999;
finalDepth = 206.122809;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       60.995439
#   Actual altitude:          60.995439
#   Commanded vehicle depth:  206.122809
#   Seafloor depth:           -267.118248
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 12
#   Segment length 101.970852 meters
#   Minimum depth: 237.857999 meters looking forward 100.000000 meters along route
#   Maximum depth: 257.542538 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 187.857999 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805353;
longitude = -121.857638;
duration = 203;
initialDepth = 174.962744;
finalDepth = 187.857999;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       69.684539
#   Actual altitude:          69.684539
#   Commanded vehicle depth:  187.857999
#   Seafloor depth:           -257.542538
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 12
#   Segment length 101.265381 meters
#   Minimum depth: 224.962744 meters looking forward 100.000000 meters along route
#   Maximum depth: 238.176127 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 174.962744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805347;
longitude = -121.856495;
duration = 202;
initialDepth = 175.813374;
finalDepth = 174.962744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       69.684539
#   Actual altitude:          69.684539
#   Commanded vehicle depth:  174.962744
#   Seafloor depth:           -237.894192
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 11
#   Segment length 167.843276 meters
#   Minimum depth: 225.813374 meters looking forward 100.000000 meters along route
#   Maximum depth: 282.721078 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 175.813374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805341;
longitude = -121.855360;
duration = 335;
# abortOnTimeout    = True;
initialDepth = 230.995386;
finalDepth = 175.813374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       62.931448
#   Actual altitude:          62.931448
#   Commanded vehicle depth:  175.813374
#   Seafloor depth:           -225.813374
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 10
#   Segment length 163.033006 meters
#   Minimum depth: 280.995386 meters looking forward 100.000000 meters along route
#   Maximum depth: 296.412348 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 230.995386 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803881;
longitude = -121.855853;
duration = 326;
# abortOnTimeout    = True;
initialDepth = 244.989668;
finalDepth = 230.995386;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       51.839239
#   Actual altitude:          51.839239
#   Commanded vehicle depth:  230.995386
#   Seafloor depth:           -282.834625
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 10
#   Segment length 100.520454 meters
#   Minimum depth: 294.989668 meters looking forward 100.000000 meters along route
#   Maximum depth: 308.963971 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 244.989668 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803617;
longitude = -121.857651;
duration = 201;
initialDepth = 259.177986;
finalDepth = 244.989668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       51.839239
#   Actual altitude:          51.839239
#   Commanded vehicle depth:  244.989668
#   Seafloor depth:           -296.509536
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 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 9
#   Segment length 161.921724 meters
#   Minimum depth: 309.177986 meters looking forward 100.000000 meters along route
#   Maximum depth: 345.350744 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 259.177986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803454;
longitude = -121.858759;
duration = 323;
# abortOnTimeout    = True;
initialDepth = 292.768265;
finalDepth = 259.177986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       51.519868
#   Actual altitude:          51.519868
#   Commanded vehicle depth:  259.177986
#   Seafloor depth:           -309.177986
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 8
#   Segment length 106.275181 meters
#   Minimum depth: 342.768265 meters looking forward 100.000000 meters along route
#   Maximum depth: 348.244484 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 292.768265 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803190;
longitude = -121.860544;
duration = 212;
# abortOnTimeout    = True;
initialDepth = 296.723899;
finalDepth = 292.768265;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  292.768265
#   Seafloor depth:           -342.768265
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 7
#   Segment length 89.295870 meters
#   Minimum depth: 346.723899 meters looking forward 100.000000 meters along route
#   Maximum depth: 351.627315 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.723899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802866;
longitude = -121.861665;
duration = 178;
# abortOnTimeout    = True;
initialDepth = 296.190923;
finalDepth = 296.723899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       51.53106
#   Actual altitude:          51.53106
#   Commanded vehicle depth:  296.723899
#   Seafloor depth:           -348.254959
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 6
#   Segment length 95.771214 meters
#   Minimum depth: 346.190923 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.801540 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.190923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802415;
longitude = -121.862494;
duration = 191;
# abortOnTimeout    = True;
initialDepth = 300.559487;
finalDepth = 296.190923;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       53.777896
#   Actual altitude:          53.777896
#   Commanded vehicle depth:  296.190923
#   Seafloor depth:           -349.968819
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 6
#   Segment length 100.625556 meters
#   Minimum depth: 350.559487 meters looking forward 100.000000 meters along route
#   Maximum depth: 356.842324 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 300.559487 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801580;
longitude = -121.862767;
duration = 201;
initialDepth = 298.306661;
finalDepth = 300.559487;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       53.777896
#   Actual altitude:          53.777896
#   Commanded vehicle depth:  300.559487
#   Seafloor depth:           -354.030303
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 5
#   Segment length 163.066097 meters
#   Minimum depth: 348.306661 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.450050 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 298.306661 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800703;
longitude = -121.863054;
duration = 326;
# abortOnTimeout    = True;
initialDepth = 291.350532;
finalDepth = 298.306661;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       57.143389
#   Actual altitude:          57.143389
#   Commanded vehicle depth:  298.306661
#   Seafloor depth:           -355.450050
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 4
#   Segment length 98.660027 meters
#   Minimum depth: 341.350532 meters looking forward 100.000000 meters along route
#   Maximum depth: 353.071423 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 291.350532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799646;
longitude = -121.864324;
duration = 197;
# abortOnTimeout    = True;
initialDepth = 279.880719;
finalDepth = 291.350532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       60.514985
#   Actual altitude:          60.514985
#   Commanded vehicle depth:  291.350532
#   Seafloor depth:           -351.865517
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 3
#   Segment length 71.332422 meters
#   Minimum depth: 329.880719 meters looking forward 100.000000 meters along route
#   Maximum depth: 342.817780 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 279.880719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798883;
longitude = -121.864892;
duration = 142;
# abortOnTimeout    = True;
initialDepth = 222.511701;
finalDepth = 279.880719;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       61.420856
#   Actual altitude:          61.420856
#   Commanded vehicle depth:  279.880719
#   Seafloor depth:           -341.301575
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 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 144.761075 meters
#   Minimum depth: 272.511701 meters looking forward 100.000000 meters along route
#   Maximum depth: 329.815674 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 222.511701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799009;
longitude = -121.865676;
duration = 289;
# abortOnTimeout    = True;
initialDepth = 207.838257;
finalDepth = 222.511701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       107.303973
#   Actual altitude:          100
#   Commanded vehicle depth:  222.511701
#   Seafloor depth:           -329.815674
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 2
#   Segment length 101.427742 meters
#   Minimum depth: 257.838257 meters looking forward 100.000000 meters along route
#   Maximum depth: 272.421841 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 207.838257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800192;
longitude = -121.866360;
duration = 202;
initialDepth = 194.665195;
finalDepth = 207.838257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       107.303973
#   Actual altitude:          100
#   Commanded vehicle depth:  207.838257
#   Seafloor depth:           -272.421841
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 101.824458 meters
#   Minimum depth: 244.665195 meters looking forward 100.000000 meters along route
#   Maximum depth: 257.832643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 194.665195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801021;
longitude = -121.866839;
duration = 203;
initialDepth = 176.944964;
finalDepth = 194.665195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       64.583584
#   Actual altitude:          64.583584
#   Commanded vehicle depth:  194.665195
#   Seafloor depth:           -257.832643
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 100.221071 meters
#   Minimum depth: 226.944964 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.589928 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 176.944964 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801854;
longitude = -121.867320;
duration = 200;
initialDepth = 160.186861;
finalDepth = 176.944964;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       67.644964
#   Actual altitude:          67.644964
#   Commanded vehicle depth:  176.944964
#   Seafloor depth:           -244.589928
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 1
#   Segment length 104.746171 meters
#   Minimum depth: 210.186861 meters looking forward 100.000000 meters along route
#   Maximum depth: 226.811447 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 160.186861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802673;
longitude = -121.867793;
duration = 209;
# abortOnTimeout    = True;
initialDepth = 141.206701;
finalDepth = 160.186861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       67.644964
#   Actual altitude:          67.644964
#   Commanded vehicle depth:  160.186861
#   Seafloor depth:           -226.811447
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 1
#   Segment length 101.958450 meters
#   Minimum depth: 191.206701 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.860237 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 141.206701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803599;
longitude = -121.867563;
duration = 203;
initialDepth = 113.041344;
finalDepth = 141.206701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       68.653536
#   Actual altitude:          68.653536
#   Commanded vehicle depth:  141.206701
#   Seafloor depth:           -209.860237
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 101.958424 meters
#   Minimum depth: 163.041344 meters looking forward 100.000000 meters along route
#   Maximum depth: 190.860768 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 113.041344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804500;
longitude = -121.867339;
duration = 203;
initialDepth = 75.836603;
finalDepth = 113.041344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       77.819424
#   Actual altitude:          77.819424
#   Commanded vehicle depth:  113.041344
#   Seafloor depth:           -190.860768
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 101.958397 meters
#   Minimum depth: 125.836603 meters looking forward 100.000000 meters along route
#   Maximum depth: 162.625167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 75.836603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805401;
longitude = -121.867115;
duration = 203;
initialDepth = 45.967736;
finalDepth = 75.836603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       86.788564
#   Actual altitude:          86.788564
#   Commanded vehicle depth:  75.836603
#   Seafloor depth:           -162.625167
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 101.958372 meters
#   Minimum depth: 95.967736 meters looking forward 100.000000 meters along route
#   Maximum depth: 125.250855 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 45.967736 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806302;
longitude = -121.866891;
duration = 203;
initialDepth = 31.807660;
finalDepth = 45.967736;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       86.788564
#   Actual altitude:          86.788564
#   Commanded vehicle depth:  45.967736
#   Seafloor depth:           -125.250855
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.867207 meters
#   Minimum depth: 81.807660 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.644186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 31.807660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807204;
longitude = -121.866667;
duration = 201;
initialDepth = 28.534066;
finalDepth = 31.807660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       79.283119
#   Actual altitude:          79.283119
#   Commanded vehicle depth:  31.80766
#   Seafloor depth:           -95.644186
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.446324 meters
#   Minimum depth: 78.534066 meters looking forward 100.000000 meters along route
#   Maximum depth: 84.208700 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 28.534066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808095;
longitude = -121.866446;
duration = 200;
initialDepth = 28.534066;
finalDepth = 28.534066;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       63.836526
#   Actual altitude:          63.836526
#   Commanded vehicle depth:  28.534066
#   Seafloor depth:           -83.059065
#
behavior delta_t
{
duration = 6;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#
#######################################################
# Turn DeltaT on and start logging.
#
behavior delta_t
{
duration = 6;
logMode = 1;
}
# Set sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       54.524999
#   Sonar parameter altitude: 54.524999
#   Commanded vehicle depth:  28.534066
#   Seafloor depth:           -78.922873
#
behavior delta_t
{
duration = 6;
logMode = 0;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#
# Waypoint_depth behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 78.534066 meters looking forward 100.000000 meters along route
#   Maximum depth: 84.208700 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 325.559487 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 28.534066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808983;
longitude = -121.866225;
duration = 1000;
initialDepth = 28.534066;
finalDepth = 28.534066;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#
#######################################################
#######################################################
#
#
# Descend behavior
behavior descend
{
horizontalMode = heading;
horizontal = 10.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
#
# setpoint on surface to gather momentum
behavior setpoint
{
duration = 30;
heading = 10.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off
#
behavior delta_t
{
duration = 6;
logMode = 0;
receiveGain = 10;
gainEq = 0;
range = 100;
nBeams = 120;
beamWidth = 1;
sectorSize = 120;
averaging = 0;
}
#
#######################################################
#######################################################
#######################################################
#######################################################
