

# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <wegener> at <Tue Feb  5 11:09:23 PST 2013>
# 
# Mission Summary:
#     Route File:               201210_WallTest_2v1.rte
#     Mission File:             201210_WallTest_2v1.cfg
#     Distance:                 15104.570875 (m)
#     Estimated Time:           11909 (s)  3.308 (hr)
#     Abort Time:               15482 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1177 (s)
#     Way Points:               43
#     Route Points:             288
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control disabled:          
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 25 (m)
#     Abort Vehicle Altitude 1:   12 (m)
#     Delta Depth Restart 1:      13 (m)
#     Desired Vehicle Altitude 1: 25 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 75 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      982.601294 (m)
#     Abort Vehicle Depth:        995.101294 (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 -99.945450 0.000000 3
#   1 -121.984601 36.775992 -790.414108 3010.737952 1
#   2 -121.987772 36.773956 -932.025497 3372.827331 3
#   3 -121.992553 36.773648 -931.229797 3800.887355 1
#   4 -121.996244 36.773739 -950.289876 4130.425228 1
#   5 -121.999758 36.773798 -966.801712 4444.141308 1
#   6 -122.003192 36.774099 -977.229477 4752.431065 1
#   7 -122.005133 36.774429 -984.006149 4929.485999 1
#   8 -122.007261 36.775150 -989.483429 5135.559446 1
#   9 -122.010919 36.777524 -994.986343 5555.009417 3
#   10 -122.008269 36.778756 -983.897705 5828.156967 1
#   11 -121.996174 36.779657 -812.080643 6912.150037 1
#   12 -121.994718 36.778576 -830.279938 7088.970895 1
#   13 -121.993262 36.777584 -836.892670 7259.251099 1
#   14 -121.991209 36.777254 -843.043045 7446.090199 1
#   15 -121.989454 36.776953 -858.530563 7606.233718 1
#   16 -121.987630 36.775926 -899.511002 7804.928182 1
#   17 -121.987630 36.774719 -930.523087 7938.833010 5
#   18 -121.989677 36.773829 -931.412628 8146.497003 1
#   19 -121.992553 36.773648 -931.229797 8403.958289 1
#   20 -121.996248 36.773738 -951.224960 8733.880478 1
#   21 -121.999758 36.773798 -966.801712 9047.210867 1
#   22 -122.003192 36.774099 -977.229477 9355.500624 1
#   23 -122.005133 36.774429 -984.006149 9532.555558 1
#   24 -122.007261 36.775150 -989.483429 9738.629005 1
#   25 -122.010919 36.777524 -994.986343 10158.078976 5
#   26 -122.008271 36.778756 -983.802409 10431.067339 1
#   27 -121.996169 36.779657 -811.800456 11515.687249 1
#   28 -121.994712 36.778576 -830.147298 11692.588423 1
#   29 -121.993255 36.777584 -836.731852 11862.868990 1
#   30 -121.991171 36.777242 -843.036377 12052.714381 1
#   31 -121.989431 36.776947 -858.774577 12211.448864 1
#   32 -121.987630 36.775926 -899.300456 12408.057310 1
#   33 -121.987638 36.774713 -930.604004 12542.697101 7
#   34 -121.989670 36.773835 -931.499756 12748.502972 1
#   35 -121.992546 36.773649 -931.022054 13006.019206 1
#   36 -121.996236 36.773727 -949.132568 13335.491270 1
#   37 -121.999732 36.773799 -966.778320 13647.616709 1
#   38 -122.003169 36.774100 -977.498617 13956.110350 1
#   39 -122.005111 36.774430 -983.799886 14133.288974 1
#   40 -122.007262 36.775151 -989.435872 14341.292725 1
#   41 -122.010923 36.777524 -995.006022 14760.856440 1
#   42 -122.008047 36.779585 -981.406189 15104.570875 8
# 
# A total of 288 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 15482;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 982.601294;
abortDepth = 995.101294;
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 delta_t
{
duration = 6;
logMode = 0; # MVC logging (0=Off, 1=On)
}
#
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 42
#   Segment length 39.266741 meters
#   Minimum depth: 981.406189 meters looking forward 50.000000 meters along route
#   Maximum depth: 986.693346 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 906.406189 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 = 911.771782;
finalDepth = 906.406189;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 50.889817 meters
#   Minimum depth: 986.771782 meters looking forward 50.000000 meters along route
#   Maximum depth: 991.535192 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 911.771782 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779350;
longitude = -122.008376;
duration = 101;
initialDepth = 916.627129;
finalDepth = 911.771782;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 50.889924 meters
#   Minimum depth: 991.627129 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.535070 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 916.627129 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 = 919.354833;
finalDepth = 916.627129;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 50.890031 meters
#   Minimum depth: 994.354833 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.822413 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 919.354833 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778739;
longitude = -122.009227;
duration = 101;
initialDepth = 919.813243;
finalDepth = 919.354833;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 50.890138 meters
#   Minimum depth: 994.813243 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.990372 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 919.813243 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778434;
longitude = -122.009653;
duration = 101;
initialDepth = 919.697994;
finalDepth = 919.813243;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 50.783856 meters
#   Minimum depth: 994.697994 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.083887 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 919.697994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778129;
longitude = -122.010079;
duration = 101;
initialDepth = 919.666374;
finalDepth = 919.697994;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 50.103928 meters
#   Minimum depth: 994.666374 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.931752 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 919.666374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777825;
longitude = -122.010504;
duration = 100;
initialDepth = 919.403329;
finalDepth = 919.666374;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 41
#   Segment length 61.606318 meters
#   Minimum depth: 994.403329 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.193607 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 919.403329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777524;
longitude = -122.010923;
duration = 123;
# abortOnTimeout    = True; 
initialDepth = 918.898505;
finalDepth = 919.403329;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 50.984671 meters
#   Minimum depth: 993.898505 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.721664 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 918.898505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777176;
longitude = -122.010385;
duration = 101;
initialDepth = 894.029378;
finalDepth = 918.898505;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 50.984790 meters
#   Minimum depth: 969.029378 meters looking forward 50.000000 meters along route
#   Maximum depth: 996.167949 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 894.029378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776887;
longitude = -122.009941;
duration = 101;
initialDepth = 894.002211;
finalDepth = 894.029378;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 51.342585 meters
#   Minimum depth: 969.002211 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.336366 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 894.002211 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776599;
longitude = -122.009496;
duration = 102;
initialDepth = 917.943651;
finalDepth = 894.002211;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 51.375221 meters
#   Minimum depth: 993.757872 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.843001 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 917.943651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776309;
longitude = -122.009048;
duration = 102;
initialDepth = 917.852457;
finalDepth = 917.943651;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 51.375343 meters
#   Minimum depth: 992.852457 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.901466 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 917.852457 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776018;
longitude = -122.008600;
duration = 102;
initialDepth = 914.788184;
finalDepth = 917.852457;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 51.375463 meters
#   Minimum depth: 989.788184 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.231118 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 914.788184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775727;
longitude = -122.008151;
duration = 102;
initialDepth = 914.479183;
finalDepth = 914.788184;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 50.519324 meters
#   Minimum depth: 989.479183 meters looking forward 50.000000 meters along route
#   Maximum depth: 991.001373 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 914.479183 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 = 912.560410;
finalDepth = 914.479183;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 40
#   Segment length 52.723008 meters
#   Minimum depth: 987.560410 meters looking forward 50.000000 meters along route
#   Maximum depth: 990.233643 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 912.560410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775151;
longitude = -122.007262;
duration = 105;
# abortOnTimeout    = True; 
initialDepth = 912.610414;
finalDepth = 912.560410;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 52.000885 meters
#   Minimum depth: 987.610414 meters looking forward 50.000000 meters along route
#   Maximum depth: 988.019453 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 912.610414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774968;
longitude = -122.006717;
duration = 104;
initialDepth = 911.859222;
finalDepth = 912.610414;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 52.000993 meters
#   Minimum depth: 986.859222 meters looking forward 50.000000 meters along route
#   Maximum depth: 987.505878 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 911.859222 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774788;
longitude = -122.006179;
duration = 104;
initialDepth = 908.872006;
finalDepth = 911.859222;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 51.278865 meters
#   Minimum depth: 983.872006 meters looking forward 50.000000 meters along route
#   Maximum depth: 986.649490 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 908.872006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774608;
longitude = -122.005641;
duration = 102;
initialDepth = 906.183094;
finalDepth = 908.872006;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 39
#   Segment length 74.278634 meters
#   Minimum depth: 981.183094 meters looking forward 50.000000 meters along route
#   Maximum depth: 983.799886 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 906.183094 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774430;
longitude = -122.005111;
duration = 148;
# abortOnTimeout    = True; 
initialDepth = 905.516184;
finalDepth = 906.183094;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 51.109233 meters
#   Minimum depth: 980.516184 meters looking forward 50.000000 meters along route
#   Maximum depth: 981.536774 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 905.516184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774292;
longitude = -122.004297;
duration = 102;
initialDepth = 902.071639;
finalDepth = 905.516184;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 51.790757 meters
#   Minimum depth: 977.071639 meters looking forward 50.000000 meters along route
#   Maximum depth: 981.412771 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 902.071639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774196;
longitude = -122.003736;
duration = 103;
initialDepth = 900.077298;
finalDepth = 902.071639;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 38
#   Segment length 55.662880 meters
#   Minimum depth: 975.077298 meters looking forward 50.000000 meters along route
#   Maximum depth: 977.976794 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 900.077298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774100;
longitude = -122.003169;
duration = 111;
# abortOnTimeout    = True; 
initialDepth = 894.578700;
finalDepth = 900.077298;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 50.297822 meters
#   Minimum depth: 969.578700 meters looking forward 50.000000 meters along route
#   Maximum depth: 977.141479 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 894.578700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774045;
longitude = -122.002549;
duration = 100;
initialDepth = 892.604490;
finalDepth = 894.578700;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 50.297859 meters
#   Minimum depth: 967.604490 meters looking forward 50.000000 meters along route
#   Maximum depth: 973.638385 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 892.604490 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773997;
longitude = -122.001988;
duration = 100;
initialDepth = 894.656192;
finalDepth = 892.604490;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 50.297896 meters
#   Minimum depth: 969.656192 meters looking forward 50.000000 meters along route
#   Maximum depth: 973.389545 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 894.656192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773948;
longitude = -122.001428;
duration = 100;
initialDepth = 892.800842;
finalDepth = 894.656192;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 50.297934 meters
#   Minimum depth: 967.800842 meters looking forward 50.000000 meters along route
#   Maximum depth: 969.766172 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 892.800842 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773899;
longitude = -122.000868;
duration = 100;
initialDepth = 891.840650;
finalDepth = 892.800842;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 51.639250 meters
#   Minimum depth: 966.840650 meters looking forward 50.000000 meters along route
#   Maximum depth: 969.416085 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 891.840650 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773850;
longitude = -122.000308;
duration = 103;
initialDepth = 890.022967;
finalDepth = 891.840650;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 37
#   Segment length 60.691018 meters
#   Minimum depth: 965.022967 meters looking forward 50.000000 meters along route
#   Maximum depth: 966.803373 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 890.022967 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773799;
longitude = -121.999732;
duration = 121;
# abortOnTimeout    = True; 
initialDepth = 887.753497;
finalDepth = 890.022967;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 50.020084 meters
#   Minimum depth: 962.753497 meters looking forward 50.000000 meters along route
#   Maximum depth: 965.285760 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 887.753497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773785;
longitude = -121.999053;
duration = 100;
initialDepth = 886.061977;
finalDepth = 887.753497;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 50.020097 meters
#   Minimum depth: 961.061977 meters looking forward 50.000000 meters along route
#   Maximum depth: 962.665776 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 886.061977 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773774;
longitude = -121.998492;
duration = 100;
initialDepth = 883.896154;
finalDepth = 886.061977;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 50.020110 meters
#   Minimum depth: 958.896154 meters looking forward 50.000000 meters along route
#   Maximum depth: 961.110961 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 883.896154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773762;
longitude = -121.997932;
duration = 100;
initialDepth = 876.805976;
finalDepth = 883.896154;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 50.020124 meters
#   Minimum depth: 951.805976 meters looking forward 50.000000 meters along route
#   Maximum depth: 958.897382 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 876.805976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773751;
longitude = -121.997372;
duration = 100;
initialDepth = 870.189737;
finalDepth = 876.805976;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 51.354006 meters
#   Minimum depth: 945.189737 meters looking forward 50.000000 meters along route
#   Maximum depth: 955.582701 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 870.189737 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773739;
longitude = -121.996811;
duration = 102;
initialDepth = 871.124351;
finalDepth = 870.189737;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 36
#   Segment length 78.699753 meters
#   Minimum depth: 946.124351 meters looking forward 50.000000 meters along route
#   Maximum depth: 957.817436 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 871.124351 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773727;
longitude = -121.996236;
duration = 157;
# abortOnTimeout    = True; 
initialDepth = 878.240046;
finalDepth = 871.124351;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 50.021046 meters
#   Minimum depth: 953.240046 meters looking forward 50.000000 meters along route
#   Maximum depth: 965.122722 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 878.240046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773709;
longitude = -121.995355;
duration = 100;
initialDepth = 876.602978;
finalDepth = 878.240046;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 50.021059 meters
#   Minimum depth: 951.602978 meters looking forward 50.000000 meters along route
#   Maximum depth: 957.488996 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 876.602978 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773697;
longitude = -121.994794;
duration = 100;
initialDepth = 873.249868;
finalDepth = 876.602978;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 50.021073 meters
#   Minimum depth: 948.249868 meters looking forward 50.000000 meters along route
#   Maximum depth: 951.549101 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 873.249868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773685;
longitude = -121.994234;
duration = 100;
initialDepth = 865.619195;
finalDepth = 873.249868;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 50.021086 meters
#   Minimum depth: 940.619195 meters looking forward 50.000000 meters along route
#   Maximum depth: 948.204050 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 865.619195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773673;
longitude = -121.993674;
duration = 100;
initialDepth = 856.095501;
finalDepth = 865.619195;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 50.688047 meters
#   Minimum depth: 931.095501 meters looking forward 50.000000 meters along route
#   Maximum depth: 940.116150 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 856.095501 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773661;
longitude = -121.993114;
duration = 101;
initialDepth = 849.202177;
finalDepth = 856.095501;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 35
#   Segment length 55.516527 meters
#   Minimum depth: 924.202177 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.469010 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 849.202177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773649;
longitude = -121.992546;
duration = 111;
# abortOnTimeout    = True; 
initialDepth = 845.674288;
finalDepth = 849.202177;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 50.165517 meters
#   Minimum depth: 920.674288 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.313558 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 845.674288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773689;
longitude = -121.991926;
duration = 100;
initialDepth = 848.736775;
finalDepth = 845.674288;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 50.165500 meters
#   Minimum depth: 923.736775 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.974221 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 848.736775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773726;
longitude = -121.991365;
duration = 100;
initialDepth = 853.596347;
finalDepth = 848.736775;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 50.165481 meters
#   Minimum depth: 928.596347 meters looking forward 50.000000 meters along route
#   Maximum depth: 930.348560 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 853.596347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773762;
longitude = -121.990805;
duration = 100;
initialDepth = 853.903504;
finalDepth = 853.596347;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 51.503209 meters
#   Minimum depth: 928.903504 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.325379 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 853.903504 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773798;
longitude = -121.990245;
duration = 103;
initialDepth = 856.499756;
finalDepth = 853.903504;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 52.156446 meters
#   Minimum depth: 931.499756 meters looking forward 50.000000 meters along route
#   Maximum depth: 933.854423 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 856.499756 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773835;
longitude = -121.989670;
duration = 104;
# abortOnTimeout    = True; 
initialDepth = 858.716170;
finalDepth = 856.499756;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 50.746706 meters
#   Minimum depth: 933.716170 meters looking forward 50.000000 meters along route
#   Maximum depth: 938.792743 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 858.716170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774058;
longitude = -121.989155;
duration = 101;
initialDepth = 862.198679;
finalDepth = 858.716170;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 52.208051 meters
#   Minimum depth: 937.198679 meters looking forward 50.000000 meters along route
#   Maximum depth: 938.951154 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 862.198679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774274;
longitude = -121.988654;
duration = 104;
initialDepth = 855.754945;
finalDepth = 862.198679;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 50.694668 meters
#   Minimum depth: 930.754945 meters looking forward 50.000000 meters along route
#   Maximum depth: 937.109625 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 855.754945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774496;
longitude = -121.988138;
duration = 101;
initialDepth = 842.046062;
finalDepth = 855.754945;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 83.316699 meters
#   Minimum depth: 917.046062 meters looking forward 50.000000 meters along route
#   Maximum depth: 930.604004 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 842.046062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774713;
longitude = -121.987638;
duration = 166;
# abortOnTimeout    = True; 
initialDepth = 849.918088;
finalDepth = 842.046062;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 51.323092 meters
#   Minimum depth: 899.918088 meters looking forward 50.000000 meters along route
#   Maximum depth: 916.576393 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 849.918088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775464;
longitude = -121.987633;
duration = 102;
initialDepth = 839.931432;
finalDepth = 849.918088;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 43.237697 meters
#   Minimum depth: 889.931432 meters looking forward 50.000000 meters along route
#   Maximum depth: 901.692678 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 839.931432 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 = 86;
# abortOnTimeout    = True; 
initialDepth = 832.927246;
finalDepth = 839.931432;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 51.597190 meters
#   Minimum depth: 882.927246 meters looking forward 50.000000 meters along route
#   Maximum depth: 889.544611 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 832.927246 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776151;
longitude = -121.988026;
duration = 103;
initialDepth = 826.042291;
finalDepth = 832.927246;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 51.193965 meters
#   Minimum depth: 876.042291 meters looking forward 50.000000 meters along route
#   Maximum depth: 888.328247 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 826.042291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776419;
longitude = -121.988499;
duration = 102;
initialDepth = 809.265573;
finalDepth = 826.042291;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 50.579594 meters
#   Minimum depth: 859.265573 meters looking forward 50.000000 meters along route
#   Maximum depth: 875.223433 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 809.265573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776685;
longitude = -121.988967;
duration = 101;
initialDepth = 796.683528;
finalDepth = 809.265573;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 55.863710 meters
#   Minimum depth: 846.683528 meters looking forward 50.000000 meters along route
#   Maximum depth: 858.774577 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 796.683528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776947;
longitude = -121.989431;
duration = 111;
# abortOnTimeout    = True; 
initialDepth = 784.745250;
finalDepth = 796.683528;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 51.094788 meters
#   Minimum depth: 834.745250 meters looking forward 50.000000 meters along route
#   Maximum depth: 846.647203 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 784.745250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777051;
longitude = -121.990043;
duration = 102;
initialDepth = 786.273374;
finalDepth = 784.745250;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 51.775985 meters
#   Minimum depth: 836.273374 meters looking forward 50.000000 meters along route
#   Maximum depth: 844.693921 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 786.273374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777146;
longitude = -121.990604;
duration = 103;
initialDepth = 793.036377;
finalDepth = 786.273374;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 87.097638 meters
#   Minimum depth: 843.036377 meters looking forward 50.000000 meters along route
#   Maximum depth: 852.639826 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 793.036377 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777242;
longitude = -121.991171;
duration = 174;
# abortOnTimeout    = True; 
initialDepth = 789.069279;
finalDepth = 793.036377;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 51.033685 meters
#   Minimum depth: 839.069279 meters looking forward 50.000000 meters along route
#   Maximum depth: 848.595006 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 789.069279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777399;
longitude = -121.992127;
duration = 102;
initialDepth = 786.576894;
finalDepth = 789.069279;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 51.714068 meters
#   Minimum depth: 836.576894 meters looking forward 50.000000 meters along route
#   Maximum depth: 838.585129 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 786.576894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777491;
longitude = -121.992688;
duration = 103;
initialDepth = 784.839561;
finalDepth = 786.576894;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 29
#   Segment length 69.144389 meters
#   Minimum depth: 834.839561 meters looking forward 50.000000 meters along route
#   Maximum depth: 836.731852 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 784.839561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777584;
longitude = -121.993255;
duration = 138;
# abortOnTimeout    = True; 
initialDepth = 783.544201;
finalDepth = 784.839561;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 50.488762 meters
#   Minimum depth: 833.544201 meters looking forward 50.000000 meters along route
#   Maximum depth: 834.951277 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 783.544201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777987;
longitude = -121.993847;
duration = 100;
initialDepth = 780.337656;
finalDepth = 783.544201;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 50.647416 meters
#   Minimum depth: 830.337656 meters looking forward 50.000000 meters along route
#   Maximum depth: 833.638184 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 780.337656 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778281;
longitude = -121.994279;
duration = 101;
initialDepth = 776.391706;
finalDepth = 780.337656;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 74.691775 meters
#   Minimum depth: 826.391706 meters looking forward 50.000000 meters along route
#   Maximum depth: 830.604997 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 776.391706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778576;
longitude = -121.994712;
duration = 149;
# abortOnTimeout    = True; 
initialDepth = 768.065749;
finalDepth = 776.391706;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 50.121974 meters
#   Minimum depth: 818.065749 meters looking forward 50.000000 meters along route
#   Maximum depth: 826.075833 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 768.065749 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779032;
longitude = -121.995327;
duration = 100;
initialDepth = 761.957923;
finalDepth = 768.065749;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 52.087425 meters
#   Minimum depth: 811.957923 meters looking forward 50.000000 meters along route
#   Maximum depth: 817.991330 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 761.957923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779339;
longitude = -121.995740;
duration = 104;
initialDepth = 761.800456;
finalDepth = 761.957923;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 79.672356 meters
#   Minimum depth: 811.800456 meters looking forward 50.000000 meters along route
#   Maximum depth: 831.711348 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 761.800456 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779657;
longitude = -121.996169;
duration = 159;
# abortOnTimeout    = True; 
initialDepth = 781.742694;
finalDepth = 761.800456;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213698 meters
#   Minimum depth: 831.742694 meters looking forward 50.000000 meters along route
#   Maximum depth: 845.385957 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 781.742694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779591;
longitude = -121.997058;
duration = 100;
initialDepth = 796.150706;
finalDepth = 781.742694;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213719 meters
#   Minimum depth: 846.150706 meters looking forward 50.000000 meters along route
#   Maximum depth: 850.706303 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 796.150706 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 = 798.336429;
finalDepth = 796.150706;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213740 meters
#   Minimum depth: 848.336429 meters looking forward 50.000000 meters along route
#   Maximum depth: 852.075645 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 798.336429 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779507;
longitude = -121.998178;
duration = 100;
initialDepth = 795.464729;
finalDepth = 798.336429;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213762 meters
#   Minimum depth: 845.464729 meters looking forward 50.000000 meters along route
#   Maximum depth: 850.914684 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 795.464729 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 = 793.506492;
finalDepth = 795.464729;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213784 meters
#   Minimum depth: 843.506492 meters looking forward 50.000000 meters along route
#   Maximum depth: 846.777092 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 793.506492 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 = 793.946376;
finalDepth = 793.506492;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213805 meters
#   Minimum depth: 843.946376 meters looking forward 50.000000 meters along route
#   Maximum depth: 848.814507 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 793.946376 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 = 799.193919;
finalDepth = 793.946376;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213826 meters
#   Minimum depth: 849.193919 meters looking forward 50.000000 meters along route
#   Maximum depth: 865.591570 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 799.193919 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 = 816.347687;
finalDepth = 799.193919;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213848 meters
#   Minimum depth: 866.347687 meters looking forward 50.000000 meters along route
#   Maximum depth: 882.052847 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 816.347687 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 = 832.495507;
finalDepth = 816.347687;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213869 meters
#   Minimum depth: 882.495507 meters looking forward 50.000000 meters along route
#   Maximum depth: 895.230135 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 832.495507 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 = 845.554552;
finalDepth = 832.495507;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213891 meters
#   Minimum depth: 895.554552 meters looking forward 50.000000 meters along route
#   Maximum depth: 902.456019 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 845.554552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779215;
longitude = -122.002100;
duration = 100;
initialDepth = 852.848567;
finalDepth = 845.554552;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213912 meters
#   Minimum depth: 902.848567 meters looking forward 50.000000 meters along route
#   Maximum depth: 912.503150 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 852.848567 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 = 862.753861;
finalDepth = 852.848567;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213934 meters
#   Minimum depth: 912.753861 meters looking forward 50.000000 meters along route
#   Maximum depth: 918.651318 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 862.753861 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 = 868.884798;
finalDepth = 862.753861;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213955 meters
#   Minimum depth: 918.884798 meters looking forward 50.000000 meters along route
#   Maximum depth: 922.081350 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 868.884798 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 = 872.311897;
finalDepth = 868.884798;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213977 meters
#   Minimum depth: 922.311897 meters looking forward 50.000000 meters along route
#   Maximum depth: 929.667990 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 872.311897 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779048;
longitude = -122.004342;
duration = 100;
initialDepth = 877.217691;
finalDepth = 872.311897;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.213998 meters
#   Minimum depth: 927.217691 meters looking forward 50.000000 meters along route
#   Maximum depth: 932.302489 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 877.217691 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 = 882.662540;
finalDepth = 877.217691;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.214020 meters
#   Minimum depth: 932.662540 meters looking forward 50.000000 meters along route
#   Maximum depth: 941.807178 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 882.662540 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 = 891.962000;
finalDepth = 882.662540;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.214041 meters
#   Minimum depth: 941.962000 meters looking forward 50.000000 meters along route
#   Maximum depth: 950.942700 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 891.962000 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 = 901.419666;
finalDepth = 891.962000;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.214063 meters
#   Minimum depth: 951.419666 meters looking forward 50.000000 meters along route
#   Maximum depth: 960.269643 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 901.419666 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 = 910.695870;
finalDepth = 901.419666;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.481893 meters
#   Minimum depth: 960.695870 meters looking forward 50.000000 meters along route
#   Maximum depth: 974.175452 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 910.695870 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 = 924.240450;
finalDepth = 910.695870;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 50.615819 meters
#   Minimum depth: 974.240450 meters looking forward 50.000000 meters along route
#   Maximum depth: 983.737754 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 924.240450 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 = 101;
initialDepth = 933.802409;
finalDepth = 924.240450;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 68.541432 meters
#   Minimum depth: 983.802409 meters looking forward 50.000000 meters along route
#   Maximum depth: 994.412906 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 933.802409 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778756;
longitude = -122.008271;
duration = 137;
# abortOnTimeout    = True; 
initialDepth = 944.461861;
finalDepth = 933.802409;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 50.828605 meters
#   Minimum depth: 994.461861 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.134141 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.461861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778447;
longitude = -122.008936;
duration = 101;
initialDepth = 945.072438;
finalDepth = 944.461861;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 51.046999 meters
#   Minimum depth: 995.072438 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.279344 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 945.072438 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 = 102;
initialDepth = 945.099996;
finalDepth = 945.072438;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 51.924183 meters
#   Minimum depth: 995.099996 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.377641 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 945.099996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777987;
longitude = -122.009924;
duration = 103;
initialDepth = 944.648877;
finalDepth = 945.099996;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 50.647144 meters
#   Minimum depth: 994.648877 meters looking forward 50.000000 meters along route
#   Maximum depth: 995.168721 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 944.648877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777753;
longitude = -122.010428;
duration = 101;
initialDepth = 944.406129;
finalDepth = 944.648877;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   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: 982.601294 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;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 25
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 25
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 25
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 25
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 25
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 25
#   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: 982.601294 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;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   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: 982.601294 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_depth
{
latitude = 36.775150;
longitude = -122.007261;
duration = 100;
# abortOnTimeout    = True; 
initialDepth = 937.617299;
finalDepth = 937.646677;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 937.617299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774973;
longitude = -122.006740;
duration = 104;
initialDepth = 936.925549;
finalDepth = 937.617299;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 24
#   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: 982.601294 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_depth
{
latitude = 36.774791;
longitude = -122.006202;
duration = 104;
initialDepth = 934.097111;
finalDepth = 936.925549;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 24
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 934.097111 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774609;
longitude = -122.005664;
duration = 102;
initialDepth = 931.355565;
finalDepth = 934.097111;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   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: 982.601294 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_depth
{
latitude = 36.774429;
longitude = -122.005133;
duration = 148;
# abortOnTimeout    = True; 
initialDepth = 930.548937;
finalDepth = 931.355565;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 51.107797 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: 982.601294 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_depth
{
latitude = 36.774291;
longitude = -122.004319;
duration = 102;
initialDepth = 926.960981;
finalDepth = 930.548937;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 23
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 926.960981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774195;
longitude = -122.003759;
duration = 103;
initialDepth = 925.090523;
finalDepth = 926.960981;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   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: 982.601294 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;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 22
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 22
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 22
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 22
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 22
#   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: 982.601294 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 = 915.022884;
finalDepth = 916.845026;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 915.022884 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 = 912.764822;
finalDepth = 915.022884;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 912.764822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773786;
longitude = -121.999053;
duration = 100;
initialDepth = 911.092947;
finalDepth = 912.764822;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 50.014956 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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 911.092947 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 = 909.249234;
finalDepth = 911.092947;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 50.014969 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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 909.249234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773767;
longitude = -121.997932;
duration = 100;
initialDepth = 902.149509;
finalDepth = 909.249234;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 21
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 902.149509 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 = 897.035329;
finalDepth = 902.149509;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 21
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 897.035329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773748;
longitude = -121.996811;
duration = 100;
initialDepth = 896.825528;
finalDepth = 897.035329;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 79.764406 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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 896.825528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773738;
longitude = -121.996248;
duration = 159;
# abortOnTimeout    = True; 
initialDepth = 903.372975;
finalDepth = 896.825528;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 20
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 903.372975 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 = 901.608658;
finalDepth = 903.372975;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 50.026670 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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 901.608658 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 = 898.318498;
finalDepth = 901.608658;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 20
#   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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 898.318498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773689;
longitude = -121.994234;
duration = 100;
initialDepth = 890.646520;
finalDepth = 898.318498;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 50.026698 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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 890.646520 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 = 881.012617;
finalDepth = 890.646520;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 50.051077 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: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 881.012617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773662;
longitude = -121.993114;
duration = 100;
initialDepth = 874.155014;
finalDepth = 881.012617;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 56.150938 meters
#   Minimum depth: 924.155014 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.444541 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 874.155014 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 = 870.236277;
finalDepth = 874.155014;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 50.156558 meters
#   Minimum depth: 920.236277 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.162939 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 870.236277 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773687;
longitude = -121.991926;
duration = 100;
initialDepth = 873.475208;
finalDepth = 870.236277;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 50.156541 meters
#   Minimum depth: 923.475208 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.956893 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 873.475208 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 = 878.564804;
finalDepth = 873.475208;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 50.156524 meters
#   Minimum depth: 928.564804 meters looking forward 50.000000 meters along route
#   Maximum depth: 930.467977 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 878.564804 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 = 878.871250;
finalDepth = 878.564804;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 50.840725 meters
#   Minimum depth: 928.871250 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.233013 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 878.871250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773793;
longitude = -121.990245;
duration = 101;
initialDepth = 881.412628;
finalDepth = 878.871250;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 56.063984 meters
#   Minimum depth: 931.412628 meters looking forward 50.000000 meters along route
#   Maximum depth: 933.840469 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 881.412628 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 = 883.780698;
finalDepth = 881.412628;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 50.018535 meters
#   Minimum depth: 933.780698 meters looking forward 50.000000 meters along route
#   Maximum depth: 938.825720 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 883.780698 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 = 887.220416;
finalDepth = 883.780698;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 50.018432 meters
#   Minimum depth: 937.220416 meters looking forward 50.000000 meters along route
#   Maximum depth: 938.948501 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 887.220416 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 = 880.711104;
finalDepth = 887.220416;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 51.563042 meters
#   Minimum depth: 930.711104 meters looking forward 50.000000 meters along route
#   Maximum depth: 937.109810 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 880.711104 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 = 866.997913;
finalDepth = 880.711104;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 82.596198 meters
#   Minimum depth: 916.997913 meters looking forward 50.000000 meters along route
#   Maximum depth: 930.523087 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 866.997913 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 = 874.912655;
finalDepth = 866.997913;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 51.308630 meters
#   Minimum depth: 899.912655 meters looking forward 50.000000 meters along route
#   Maximum depth: 916.530523 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 874.912655 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 = 862.598071;
finalDepth = 874.912655;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 46.518950 meters
#   Minimum depth: 887.598071 meters looking forward 50.000000 meters along route
#   Maximum depth: 900.824466 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 862.598071 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 = 93;
# abortOnTimeout    = True; 
initialDepth = 858.020526;
finalDepth = 862.598071;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 50.351620 meters
#   Minimum depth: 883.020526 meters looking forward 50.000000 meters along route
#   Maximum depth: 888.430997 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 858.020526 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 = 849.955310;
finalDepth = 858.020526;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 51.267753 meters
#   Minimum depth: 874.955310 meters looking forward 50.000000 meters along route
#   Maximum depth: 888.570346 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 849.955310 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 = 834.011938;
finalDepth = 849.955310;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 50.556141 meters
#   Minimum depth: 859.011938 meters looking forward 50.000000 meters along route
#   Maximum depth: 874.823702 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 834.011938 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 = 821.396388;
finalDepth = 834.011938;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 57.856526 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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 821.396388 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 = 809.072541;
finalDepth = 821.396388;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 51.125402 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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 809.072541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777062;
longitude = -121.990088;
duration = 102;
initialDepth = 812.184741;
finalDepth = 809.072541;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 15
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 812.184741 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 = 818.043045;
finalDepth = 812.184741;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 818.043045 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 = 813.527128;
finalDepth = 818.043045;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 50.989784 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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 813.527128 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 = 811.586626;
finalDepth = 813.527128;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 50.222498 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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 811.586626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777495;
longitude = -121.992710;
duration = 100;
initialDepth = 809.957058;
finalDepth = 811.586626;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 66.511130 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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 809.957058 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 = 808.684768;
finalDepth = 809.957058;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 52.420016 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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 808.684768 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 = 805.485408;
finalDepth = 808.684768;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 13
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 805.485408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778277;
longitude = -121.994279;
duration = 102;
initialDepth = 801.150555;
finalDepth = 805.485408;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 801.150555 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 = 793.142883;
finalDepth = 801.150555;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 12
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 793.142883 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 = 787.188791;
finalDepth = 793.142883;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 12
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 787.188791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779348;
longitude = -121.995758;
duration = 101;
initialDepth = 787.080643;
finalDepth = 787.188791;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 787.080643 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779657;
longitude = -121.996174;
duration = 158;
# abortOnTimeout    = True; 
initialDepth = 806.777305;
finalDepth = 787.080643;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 806.777305 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779591;
longitude = -121.997060;
duration = 100;
initialDepth = 821.141956;
finalDepth = 806.777305;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 821.141956 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 = 823.323609;
finalDepth = 821.141956;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 823.323609 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 = 820.457724;
finalDepth = 823.323609;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 820.457724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779466;
longitude = -121.998739;
duration = 100;
initialDepth = 818.495743;
finalDepth = 820.457724;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 818.495743 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779424;
longitude = -121.999299;
duration = 100;
initialDepth = 818.933378;
finalDepth = 818.495743;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 818.933378 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 = 824.195546;
finalDepth = 818.933378;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 824.195546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779341;
longitude = -122.000420;
duration = 100;
initialDepth = 841.352532;
finalDepth = 824.195546;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 841.352532 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 = 857.501471;
finalDepth = 841.352532;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 857.501471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779257;
longitude = -122.001540;
duration = 100;
initialDepth = 870.553209;
finalDepth = 857.501471;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 870.553209 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 = 877.849616;
finalDepth = 870.553209;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 877.849616 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779174;
longitude = -122.002661;
duration = 100;
initialDepth = 887.753333;
finalDepth = 877.849616;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 887.753333 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 = 893.884131;
finalDepth = 887.753333;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 893.884131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779090;
longitude = -122.003781;
duration = 100;
initialDepth = 897.310548;
finalDepth = 893.884131;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 897.310548 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 = 902.217986;
finalDepth = 897.310548;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 902.217986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779007;
longitude = -122.004902;
duration = 100;
initialDepth = 907.661645;
finalDepth = 902.217986;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 907.661645 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 = 916.961578;
finalDepth = 907.661645;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 916.961578 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778923;
longitude = -122.006022;
duration = 100;
initialDepth = 926.419515;
finalDepth = 916.961578;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 926.419515 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 = 935.695893;
finalDepth = 926.419515;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 935.695893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778840;
longitude = -122.007143;
duration = 100;
initialDepth = 949.237399;
finalDepth = 935.695893;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 11
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 949.237399 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 = 958.897705;
finalDepth = 949.237399;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 958.897705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778756;
longitude = -122.008269;
duration = 137;
# abortOnTimeout    = True; 
initialDepth = 969.465091;
finalDepth = 958.897705;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 969.465091 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 = 970.072671;
finalDepth = 969.465091;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 970.072671 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 = 970.101294;
finalDepth = 970.072671;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 970.101294 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 = 969.648671;
finalDepth = 970.101294;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 10
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 969.648671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777753;
longitude = -122.010427;
duration = 101;
initialDepth = 969.406129;
finalDepth = 969.648671;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   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: 982.601294 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;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 50.952681 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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.122639 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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 9
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 9
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 9
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 9
#   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: 982.601294 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;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   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: 982.601294 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_depth
{
latitude = 36.775150;
longitude = -122.007261;
duration = 100;
# abortOnTimeout    = True; 
initialDepth = 962.617299;
finalDepth = 962.646677;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 962.617299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774973;
longitude = -122.006740;
duration = 104;
initialDepth = 961.925549;
finalDepth = 962.617299;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 8
#   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: 982.601294 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_depth
{
latitude = 36.774791;
longitude = -122.006202;
duration = 104;
initialDepth = 959.097111;
finalDepth = 961.925549;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 8
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 959.097111 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774609;
longitude = -122.005664;
duration = 102;
initialDepth = 956.355565;
finalDepth = 959.097111;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   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: 982.601294 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_depth
{
latitude = 36.774429;
longitude = -122.005133;
duration = 148;
# abortOnTimeout    = True; 
initialDepth = 955.548937;
finalDepth = 956.355565;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 51.107797 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: 982.601294 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_depth
{
latitude = 36.774291;
longitude = -122.004319;
duration = 102;
initialDepth = 951.960981;
finalDepth = 955.548937;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 7
#   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: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 951.960981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774195;
longitude = -122.003759;
duration = 103;
initialDepth = 950.090523;
finalDepth = 951.960981;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   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: 982.601294 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;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 6
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 6
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 6
#   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: 982.601294 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;
}
# 
# 
# 
# Waypoint_depth behavior during line 6
#   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: 982.601294 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 = 940.023160;
finalDepth = 941.845026;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 62.976794 meters
#   Minimum depth: 965.023160 meters looking forward 50.000000 meters along route
#   Maximum depth: 966.801712 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 940.023160 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 = 937.766859;
finalDepth = 940.023160;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 50.014462 meters
#   Minimum depth: 962.766859 meters looking forward 50.000000 meters along route
#   Maximum depth: 965.289002 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 937.766859 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 = 936.097525;
finalDepth = 937.766859;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 50.014473 meters
#   Minimum depth: 961.097525 meters looking forward 50.000000 meters along route
#   Maximum depth: 962.678949 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 936.097525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773777;
longitude = -121.998492;
duration = 100;
initialDepth = 934.297100;
finalDepth = 936.097525;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 50.014486 meters
#   Minimum depth: 959.297100 meters looking forward 50.000000 meters along route
#   Maximum depth: 961.134486 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 934.297100 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 = 927.193250;
finalDepth = 934.297100;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 50.014497 meters
#   Minimum depth: 952.193250 meters looking forward 50.000000 meters along route
#   Maximum depth: 959.198872 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 927.193250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773758;
longitude = -121.997372;
duration = 100;
initialDepth = 922.265809;
finalDepth = 927.193250;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 50.681368 meters
#   Minimum depth: 947.265809 meters looking forward 50.000000 meters along route
#   Maximum depth: 956.120661 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 922.265809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773749;
longitude = -121.996811;
duration = 101;
initialDepth = 921.915204;
finalDepth = 922.265809;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 79.376678 meters
#   Minimum depth: 946.915204 meters looking forward 50.000000 meters along route
#   Maximum depth: 957.996214 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 921.915204 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773739;
longitude = -121.996244;
duration = 158;
# abortOnTimeout    = True; 
initialDepth = 928.391090;
finalDepth = 921.915204;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 50.027337 meters
#   Minimum depth: 953.391090 meters looking forward 50.000000 meters along route
#   Maximum depth: 965.512619 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 928.391090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773717;
longitude = -121.995355;
duration = 100;
initialDepth = 926.609491;
finalDepth = 928.391090;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 50.027352 meters
#   Minimum depth: 951.609491 meters looking forward 50.000000 meters along route
#   Maximum depth: 957.153106 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 926.609491 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 = 923.330304;
finalDepth = 926.609491;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 50.027366 meters
#   Minimum depth: 948.330304 meters looking forward 50.000000 meters along route
#   Maximum depth: 953.032802 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 923.330304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773690;
longitude = -121.994234;
duration = 100;
initialDepth = 915.656003;
finalDepth = 923.330304;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 50.027380 meters
#   Minimum depth: 940.656003 meters looking forward 50.000000 meters along route
#   Maximum depth: 948.217216 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 915.656003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773676;
longitude = -121.993674;
duration = 100;
initialDepth = 906.012623;
finalDepth = 915.656003;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 50.051760 meters
#   Minimum depth: 931.012623 meters looking forward 50.000000 meters along route
#   Maximum depth: 940.154879 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 906.012623 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 = 901.507524;
finalDepth = 906.012623;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 76.224646 meters
#   Minimum depth: 926.507524 meters looking forward 50.000000 meters along route
#   Maximum depth: 931.229797 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 901.507524 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 = 895.508624;
finalDepth = 901.507524;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 50.163843 meters
#   Minimum depth: 920.508624 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.832601 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 895.508624 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 = 903.772196;
finalDepth = 895.508624;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 50.163826 meters
#   Minimum depth: 928.772196 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.968259 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 903.772196 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 = 903.586877;
finalDepth = 903.772196;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 50.163809 meters
#   Minimum depth: 928.586877 meters looking forward 50.000000 meters along route
#   Maximum depth: 929.216461 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 903.586877 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 = 904.117353;
finalDepth = 903.586877;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 50.163790 meters
#   Minimum depth: 929.117353 meters looking forward 50.000000 meters along route
#   Maximum depth: 932.863587 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 904.117353 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 = 907.946742;
finalDepth = 904.117353;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 50.163772 meters
#   Minimum depth: 932.946742 meters looking forward 50.000000 meters along route
#   Maximum depth: 933.604240 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 907.946742 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 = 908.356090;
finalDepth = 907.946742;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 50.163755 meters
#   Minimum depth: 933.356090 meters looking forward 50.000000 meters along route
#   Maximum depth: 937.384309 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 908.356090 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 = 907.122187;
finalDepth = 908.356090;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 50.852583 meters
#   Minimum depth: 932.122187 meters looking forward 50.000000 meters along route
#   Maximum depth: 936.899635 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 907.122187 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 = 900.033813;
finalDepth = 907.122187;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 56.542666 meters
#   Minimum depth: 925.033813 meters looking forward 50.000000 meters along route
#   Maximum depth: 932.025497 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 900.033813 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 = 887.371652;
finalDepth = 900.033813;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 50.060794 meters
#   Minimum depth: 912.371652 meters looking forward 50.000000 meters along route
#   Maximum depth: 924.867774 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 887.371652 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774274;
longitude = -121.987277;
duration = 100;
initialDepth = 868.357801;
finalDepth = 887.371652;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.181731 meters
#   Minimum depth: 893.357801 meters looking forward 50.000000 meters along route
#   Maximum depth: 911.321559 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 868.357801 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 = 849.166518;
finalDepth = 868.357801;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.181619 meters
#   Minimum depth: 874.166518 meters looking forward 50.000000 meters along route
#   Maximum depth: 892.774212 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 849.166518 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 = 823.108486;
finalDepth = 849.166518;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.181508 meters
#   Minimum depth: 848.108486 meters looking forward 50.000000 meters along route
#   Maximum depth: 873.246673 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 823.108486 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 = 789.981893;
finalDepth = 823.108486;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.181396 meters
#   Minimum depth: 814.981893 meters looking forward 50.000000 meters along route
#   Maximum depth: 847.367844 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 789.981893 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 = 765.657041;
finalDepth = 789.981893;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 50.759665 meters
#   Minimum depth: 790.657041 meters looking forward 50.000000 meters along route
#   Maximum depth: 814.611391 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 765.657041 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 = 748.373267;
finalDepth = 765.657041;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 50.891899 meters
#   Minimum depth: 773.373267 meters looking forward 50.000000 meters along route
#   Maximum depth: 790.414108 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 748.373267 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 = 732.571573;
finalDepth = 748.373267;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140854 meters
#   Minimum depth: 757.571573 meters looking forward 50.000000 meters along route
#   Maximum depth: 773.204364 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 732.571573 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 = 714.824682;
finalDepth = 732.571573;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140807 meters
#   Minimum depth: 739.824682 meters looking forward 50.000000 meters along route
#   Maximum depth: 757.019070 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 714.824682 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 = 698.533465;
finalDepth = 714.824682;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140762 meters
#   Minimum depth: 723.533465 meters looking forward 50.000000 meters along route
#   Maximum depth: 739.604188 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 698.533465 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 = 689.611995;
finalDepth = 698.533465;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140717 meters
#   Minimum depth: 714.611995 meters looking forward 50.000000 meters along route
#   Maximum depth: 723.032419 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 689.611995 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 = 675.059249;
finalDepth = 689.611995;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140670 meters
#   Minimum depth: 700.059249 meters looking forward 50.000000 meters along route
#   Maximum depth: 714.636404 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 675.059249 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 = 662.316513;
finalDepth = 675.059249;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140625 meters
#   Minimum depth: 687.316513 meters looking forward 50.000000 meters along route
#   Maximum depth: 699.516296 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 662.316513 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 = 656.414885;
finalDepth = 662.316513;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140579 meters
#   Minimum depth: 681.414885 meters looking forward 50.000000 meters along route
#   Maximum depth: 687.232485 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 656.414885 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 = 644.827449;
finalDepth = 656.414885;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140533 meters
#   Minimum depth: 669.827449 meters looking forward 50.000000 meters along route
#   Maximum depth: 680.867827 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 644.827449 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 = 632.079129;
finalDepth = 644.827449;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.167401 meters
#   Minimum depth: 657.079129 meters looking forward 50.000000 meters along route
#   Maximum depth: 669.540445 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 632.079129 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 = 620.618311;
finalDepth = 632.079129;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.113528 meters
#   Minimum depth: 645.618311 meters looking forward 50.000000 meters along route
#   Maximum depth: 657.073375 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 620.618311 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 = 614.944090;
finalDepth = 620.618311;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140396 meters
#   Minimum depth: 639.944090 meters looking forward 50.000000 meters along route
#   Maximum depth: 645.442085 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 614.944090 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 = 608.286074;
finalDepth = 614.944090;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140350 meters
#   Minimum depth: 633.286074 meters looking forward 50.000000 meters along route
#   Maximum depth: 639.933990 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 608.286074 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 = 597.425396;
finalDepth = 608.286074;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140304 meters
#   Minimum depth: 622.425396 meters looking forward 50.000000 meters along route
#   Maximum depth: 633.014702 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 597.425396 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 = 589.141793;
finalDepth = 597.425396;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140259 meters
#   Minimum depth: 614.141793 meters looking forward 50.000000 meters along route
#   Maximum depth: 622.371278 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 589.141793 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 = 573.980291;
finalDepth = 589.141793;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140213 meters
#   Minimum depth: 598.980291 meters looking forward 50.000000 meters along route
#   Maximum depth: 613.822956 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 573.980291 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 = 558.062858;
finalDepth = 573.980291;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140167 meters
#   Minimum depth: 583.062858 meters looking forward 50.000000 meters along route
#   Maximum depth: 598.873322 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 558.062858 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 = 542.302842;
finalDepth = 558.062858;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140122 meters
#   Minimum depth: 567.302842 meters looking forward 50.000000 meters along route
#   Maximum depth: 582.449819 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 542.302842 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 = 525.423774;
finalDepth = 542.302842;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140076 meters
#   Minimum depth: 550.423774 meters looking forward 50.000000 meters along route
#   Maximum depth: 567.184580 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 525.423774 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783308;
longitude = -121.980160;
duration = 100;
initialDepth = 506.123327;
finalDepth = 525.423774;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.140030 meters
#   Minimum depth: 531.123327 meters looking forward 50.000000 meters along route
#   Maximum depth: 549.811778 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 506.123327 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 = 491.422169;
finalDepth = 506.123327;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139984 meters
#   Minimum depth: 516.422169 meters looking forward 50.000000 meters along route
#   Maximum depth: 530.903946 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 491.422169 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 = 480.219386;
finalDepth = 491.422169;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139938 meters
#   Minimum depth: 505.219386 meters looking forward 50.000000 meters along route
#   Maximum depth: 515.757578 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 480.219386 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 = 471.714143;
finalDepth = 480.219386;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139893 meters
#   Minimum depth: 496.714143 meters looking forward 50.000000 meters along route
#   Maximum depth: 505.051277 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 471.714143 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 = 462.176040;
finalDepth = 471.714143;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139847 meters
#   Minimum depth: 487.176040 meters looking forward 50.000000 meters along route
#   Maximum depth: 496.331475 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 462.176040 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 = 446.707874;
finalDepth = 462.176040;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.181643 meters
#   Minimum depth: 471.707874 meters looking forward 50.000000 meters along route
#   Maximum depth: 486.974132 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 446.707874 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 = 429.556250;
finalDepth = 446.707874;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.097914 meters
#   Minimum depth: 454.556250 meters looking forward 50.000000 meters along route
#   Maximum depth: 471.703550 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 429.556250 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 = 407.129916;
finalDepth = 429.556250;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139710 meters
#   Minimum depth: 432.129916 meters looking forward 50.000000 meters along route
#   Maximum depth: 454.046106 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 407.129916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786557;
longitude = -121.978188;
duration = 100;
initialDepth = 385.354826;
finalDepth = 407.129916;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139664 meters
#   Minimum depth: 410.354826 meters looking forward 50.000000 meters along route
#   Maximum depth: 432.045151 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 385.354826 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 = 357.601906;
finalDepth = 385.354826;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139618 meters
#   Minimum depth: 382.601906 meters looking forward 50.000000 meters along route
#   Maximum depth: 409.902867 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 357.601906 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 = 334.604258;
finalDepth = 357.601906;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139573 meters
#   Minimum depth: 359.604258 meters looking forward 50.000000 meters along route
#   Maximum depth: 382.477086 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 334.604258 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 = 321.577331;
finalDepth = 334.604258;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139527 meters
#   Minimum depth: 346.577331 meters looking forward 50.000000 meters along route
#   Maximum depth: 358.984365 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 321.577331 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 = 311.106283;
finalDepth = 321.577331;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139481 meters
#   Minimum depth: 336.106283 meters looking forward 50.000000 meters along route
#   Maximum depth: 346.550033 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 311.106283 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 = 302.190560;
finalDepth = 311.106283;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139435 meters
#   Minimum depth: 327.190560 meters looking forward 50.000000 meters along route
#   Maximum depth: 335.918734 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 302.190560 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 = 293.707169;
finalDepth = 302.190560;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139390 meters
#   Minimum depth: 318.707169 meters looking forward 50.000000 meters along route
#   Maximum depth: 327.091984 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 293.707169 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789400;
longitude = -121.976462;
duration = 100;
initialDepth = 283.915887;
finalDepth = 293.707169;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139344 meters
#   Minimum depth: 308.915887 meters looking forward 50.000000 meters along route
#   Maximum depth: 318.383376 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 283.915887 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 = 275.184513;
finalDepth = 283.915887;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139298 meters
#   Minimum depth: 300.184513 meters looking forward 50.000000 meters along route
#   Maximum depth: 308.827618 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 275.184513 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 = 265.686705;
finalDepth = 275.184513;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139253 meters
#   Minimum depth: 290.686705 meters looking forward 50.000000 meters along route
#   Maximum depth: 299.817284 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 265.686705 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 = 255.939513;
finalDepth = 265.686705;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139206 meters
#   Minimum depth: 280.939513 meters looking forward 50.000000 meters along route
#   Maximum depth: 290.504790 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 255.939513 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 = 244.964052;
finalDepth = 255.939513;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139161 meters
#   Minimum depth: 269.964052 meters looking forward 50.000000 meters along route
#   Maximum depth: 280.447744 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 244.964052 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 = 235.629691;
finalDepth = 244.964052;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.195883 meters
#   Minimum depth: 260.629691 meters looking forward 50.000000 meters along route
#   Maximum depth: 269.976788 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 235.629691 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 = 225.298502;
finalDepth = 235.629691;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.082302 meters
#   Minimum depth: 250.298502 meters looking forward 50.000000 meters along route
#   Maximum depth: 260.617508 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 225.298502 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 = 213.797569;
finalDepth = 225.298502;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.139024 meters
#   Minimum depth: 238.797569 meters looking forward 50.000000 meters along route
#   Maximum depth: 250.120064 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 213.797569 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792649;
longitude = -121.974490;
duration = 100;
initialDepth = 203.183018;
finalDepth = 213.797569;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138978 meters
#   Minimum depth: 228.183018 meters looking forward 50.000000 meters along route
#   Maximum depth: 238.784592 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 203.183018 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 = 191.591296;
finalDepth = 203.183018;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138932 meters
#   Minimum depth: 216.591296 meters looking forward 50.000000 meters along route
#   Maximum depth: 227.958464 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 191.591296 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 = 180.802174;
finalDepth = 191.591296;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138887 meters
#   Minimum depth: 205.802174 meters looking forward 50.000000 meters along route
#   Maximum depth: 216.539490 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 180.802174 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 = 172.230019;
finalDepth = 180.802174;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138841 meters
#   Minimum depth: 197.230019 meters looking forward 50.000000 meters along route
#   Maximum depth: 205.538911 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 172.230019 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 = 165.102444;
finalDepth = 172.230019;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138795 meters
#   Minimum depth: 190.102444 meters looking forward 50.000000 meters along route
#   Maximum depth: 197.169070 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 165.102444 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 = 155.107264;
finalDepth = 165.102444;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138749 meters
#   Minimum depth: 180.107264 meters looking forward 50.000000 meters along route
#   Maximum depth: 189.810685 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 155.107264 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 = 143.249794;
finalDepth = 155.107264;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138704 meters
#   Minimum depth: 168.249794 meters looking forward 50.000000 meters along route
#   Maximum depth: 179.947221 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 143.249794 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795492;
longitude = -121.972764;
duration = 100;
initialDepth = 128.932478;
finalDepth = 143.249794;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138658 meters
#   Minimum depth: 153.932478 meters looking forward 50.000000 meters along route
#   Maximum depth: 167.972109 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 128.932478 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795898;
longitude = -121.972518;
duration = 100;
initialDepth = 116.765804;
finalDepth = 128.932478;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138612 meters
#   Minimum depth: 141.765804 meters looking forward 50.000000 meters along route
#   Maximum depth: 153.734890 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 116.765804 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 = 102.375261;
finalDepth = 116.765804;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138566 meters
#   Minimum depth: 127.375261 meters looking forward 50.000000 meters along route
#   Maximum depth: 140.986213 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 102.375261 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 = 90.970693;
finalDepth = 102.375261;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138521 meters
#   Minimum depth: 115.970693 meters looking forward 50.000000 meters along route
#   Maximum depth: 127.170065 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 90.970693 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 = 85.171958;
finalDepth = 90.970693;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138475 meters
#   Minimum depth: 110.171958 meters looking forward 50.000000 meters along route
#   Maximum depth: 115.428438 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 85.171958 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 = 81.233506;
finalDepth = 85.171958;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.210123 meters
#   Minimum depth: 106.233506 meters looking forward 50.000000 meters along route
#   Maximum depth: 110.150285 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 81.233506 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 = 79.481936;
finalDepth = 81.233506;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.066690 meters
#   Minimum depth: 104.481936 meters looking forward 50.000000 meters along route
#   Maximum depth: 106.547864 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 79.481936 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 = 78.404998;
finalDepth = 79.481936;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138338 meters
#   Minimum depth: 103.404998 meters looking forward 50.000000 meters along route
#   Maximum depth: 104.516275 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 78.404998 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798741;
longitude = -121.970792;
duration = 100;
initialDepth = 77.626571;
finalDepth = 78.404998;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138292 meters
#   Minimum depth: 102.626571 meters looking forward 50.000000 meters along route
#   Maximum depth: 103.788774 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 77.626571 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 = 76.049906;
finalDepth = 77.626571;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 50.138246 meters
#   Minimum depth: 101.049906 meters looking forward 50.000000 meters along route
#   Maximum depth: 102.559041 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 76.049906 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 = 74.540001;
finalDepth = 76.049906;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.752165 meters
#   Minimum depth: 99.540001 meters looking forward 50.000000 meters along route
#   Maximum depth: 101.489068 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 74.540001 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 = 74.540001;
finalDepth = 74.540001;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# Turn Mapping sonars on and start logging.
#
behavior delta_t
{
duration = 6;
logMode = 1; # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 100; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
# 
#######################################################
# 
# Waypoint_depth behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 99.540001 meters looking forward 50.000000 meters along route
#   Maximum depth: 101.489068 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 982.601294 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 74.540001 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 = 1000;
initialDepth = 74.540001;
finalDepth = 74.540001;
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 = 300.0;
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 = 300.0;
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; # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 100; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
