# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Tue Oct 18 06:25:54 PDT 2005>
# 
# Mission Summary:
#     Route File:               MARSSurvey20051018.rte
#     Mission File:             MARSSurvey20051018.cfg
#     Distance:                 21327.164450 (m)
#     Estimated Time:           16430 (s)  4.564 (hr)
#     Abort Time:               32861 (s)
#     Way Points:               35
#     Route Points:             221
#     Mapping sonar control enabled:          
# 
# Mission Parameters:
#     Desired Vehicle Altitude: 25 (m)
#     Minimum Vehicle Altitude: 18 (m)
#     Abort Vehicle Altitude:   10 (m)
#     Maximum Vehicle Depth:    500 (m)
#     Abort Vehicle Depth:      525 (m)
#     Descent Vehicle Depth:    3 (m)
#     Forward Looking Distance: 100 (m)
#     Waypoint Spacing:         100 (m)
#     Time to First Waypoint:   500 (s)
#     GPS Duration:             600 (s)
#     Ascend Rate:              0.5 (m/s)
#     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 -122.132755 36.846541 -106.697795 0.000000 1
#   1 -122.150155 36.838663 -124.517812 1780.728272 1
#   2 -122.158967 36.836124 -181.102356 2615.465181 1
#   3 -122.168040 36.827498 -308.340617 3868.583796 1
#   4 -122.171326 36.816371 -361.312988 5137.293390 1
#   5 -122.176890 36.811704 -379.001302 5854.487643 1
#   6 -122.186523 36.800278 -433.614705 7385.878620 1
#   7 -122.196306 36.788703 -484.618652 8938.530499 1
#   8 -122.197090 36.789151 -484.098633 9024.354648 1
#   9 -122.187195 36.800614 -433.253662 10572.419910 1
#   10 -122.180399 36.808866 -402.901245 11670.394505 1
#   11 -122.181744 36.809650 -410.603963 11818.531736 1
#   12 -122.182378 36.808904 -414.892171 11918.878588 1
#   13 -122.178458 36.806887 -405.183146 12334.028346 1
#   14 -122.177935 36.807634 -400.290649 12429.096062 1
#   15 -122.180399 36.808866 -402.901245 12687.963134 1
#   16 -122.177674 36.812152 -381.641561 13126.132326 1
#   17 -122.172297 36.816745 -357.927653 13825.849237 1
#   18 -122.170542 36.822196 -332.308716 14450.548758 1
#   19 -122.172409 36.822682 -337.507039 14625.549733 1
#   20 -122.172670 36.821860 -340.567383 14719.614139 1
#   21 -122.168264 36.820889 -342.123617 15127.074240 1
#   22 -122.168078 36.821636 -339.594320 15211.576616 1
#   23 -122.170542 36.822196 -332.308716 15439.984946 1
#   24 -122.168862 36.827909 -307.142619 16091.229192 1
#   25 -122.159863 36.836348 -194.049296 17324.258212 1
#   26 -122.161133 36.837207 -213.765564 17472.219222 1
#   27 -122.161805 36.836646 -233.381266 17558.547512 1
#   28 -122.158183 36.834219 -186.017029 17979.033052 1
#   29 -122.158855 36.833435 -205.151733 18084.669801 1
#   30 -122.161879 36.835340 -242.235331 18427.262978 1
#   31 -122.160759 36.836460 -206.639486 18586.700958 1
#   32 -122.159452 36.836759 -181.765971 18707.856708 1
#   33 -122.150715 36.839335 -124.842834 19537.739349 1
#   34 -122.133203 36.847213 -106.844116 21327.164450 1
# 
# A total of 221 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 32861;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 500.000000;
abortDepth = 525.000000;
minAltitude = 18.000000;
abortAltitude = 10.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 60;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10.000000;
pitch = 20.000000;
speed = 1.500000;
endDepth = 2.000000;
}
# 
# Turn off power to sonars and stop logging on the PLC 
# by setting the value of the mode attribute to 0 (used to be False). 
behavior reson
{
duration = 6;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode = 0;
}
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 42.401889 meters
#   Minimum depth: 106.437894 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 81.437894 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.847213;
longitude = -122.133203;
captureRadius = 10;
duration = 56;
initialDepth = 81.437894;
finalDepth = 81.437894;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.406222
#   Altitude Set: 25.406222
#   Vehicle Depth:81.437894 
#   Seafloor Depth:-106.844116
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.97;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.05;
MB_Bottom_Detect_Filter_Max_Range = 60.97;
MB_Bottom_Detect_Filter_Min_Depth = 19.05;
MB_Bottom_Detect_Filter_Max_Depth = 33.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.578526 meters
#   Minimum depth: 106.192707 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 81.192707 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.847027;
longitude = -122.133618;
captureRadius = 10;
duration = 136;
initialDepth = 81.192707;
finalDepth = 81.437894;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.406222
#   Altitude Set: 25.406222
#   Vehicle Depth:81.192707 
#   Seafloor Depth:-106.449517
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.97;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.05;
MB_Bottom_Detect_Filter_Max_Range = 60.97;
MB_Bottom_Detect_Filter_Min_Depth = 19.05;
MB_Bottom_Detect_Filter_Max_Depth = 33.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 100.951587 meters
#   Minimum depth: 107.073544 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 82.073544 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.846575;
longitude = -122.134622;
captureRadius = 10;
duration = 134;
initialDepth = 82.073544;
finalDepth = 81.192707;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.25681
#   Altitude Set: 25.25681
#   Vehicle Depth:82.073544 
#   Seafloor Depth:-107.187184
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.62;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.94;
MB_Bottom_Detect_Filter_Max_Range = 60.62;
MB_Bottom_Detect_Filter_Min_Depth = 18.94;
MB_Bottom_Detect_Filter_Max_Depth = 32.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 101.765707 meters
#   Minimum depth: 108.230820 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 83.230820 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.846131;
longitude = -122.135610;
captureRadius = 10;
duration = 135;
initialDepth = 83.230820;
finalDepth = 82.073544;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.159081
#   Altitude Set: 25.159081
#   Vehicle Depth:83.23082 
#   Seafloor Depth:-108.389901
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.87;
MB_Bottom_Detect_Filter_Max_Range = 60.38;
MB_Bottom_Detect_Filter_Min_Depth = 18.87;
MB_Bottom_Detect_Filter_Max_Depth = 32.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 101.766139 meters
#   Minimum depth: 108.756509 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 83.756509 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.845682;
longitude = -122.136606;
captureRadius = 10;
duration = 135;
initialDepth = 83.756509;
finalDepth = 83.230820;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.159081
#   Altitude Set: 25.159081
#   Vehicle Depth:83.756509 
#   Seafloor Depth:-108.756509
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.87;
MB_Bottom_Detect_Filter_Max_Range = 60.38;
MB_Bottom_Detect_Filter_Min_Depth = 18.87;
MB_Bottom_Detect_Filter_Max_Depth = 32.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 101.766574 meters
#   Minimum depth: 109.191033 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 84.191033 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.845234;
longitude = -122.137602;
captureRadius = 10;
duration = 135;
initialDepth = 84.191033;
finalDepth = 83.756509;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.159545
#   Altitude Set: 25.159545
#   Vehicle Depth:84.191033 
#   Seafloor Depth:-109.350578
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.87;
MB_Bottom_Detect_Filter_Max_Range = 60.38;
MB_Bottom_Detect_Filter_Min_Depth = 18.87;
MB_Bottom_Detect_Filter_Max_Depth = 32.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 101.767006 meters
#   Minimum depth: 109.981166 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 84.981166 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.844786;
longitude = -122.138598;
captureRadius = 10;
duration = 135;
initialDepth = 84.981166;
finalDepth = 84.191033;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.159545
#   Altitude Set: 25.159545
#   Vehicle Depth:84.981166 
#   Seafloor Depth:-109.981166
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.87;
MB_Bottom_Detect_Filter_Max_Range = 60.38;
MB_Bottom_Detect_Filter_Min_Depth = 18.87;
MB_Bottom_Detect_Filter_Max_Depth = 32.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 101.767439 meters
#   Minimum depth: 110.809288 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 85.809288 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.844338;
longitude = -122.139594;
captureRadius = 10;
duration = 135;
initialDepth = 85.809288;
finalDepth = 84.981166;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:85.809288 
#   Seafloor Depth:-110.809288
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 101.767873 meters
#   Minimum depth: 111.118263 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 86.118263 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.843890;
longitude = -122.140590;
captureRadius = 10;
duration = 135;
initialDepth = 86.118263;
finalDepth = 85.809288;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.56555
#   Altitude Set: 25.56555
#   Vehicle Depth:86.118263 
#   Seafloor Depth:-111.683813
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.36;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.17;
MB_Bottom_Detect_Filter_Max_Range = 61.36;
MB_Bottom_Detect_Filter_Min_Depth = 19.17;
MB_Bottom_Detect_Filter_Max_Depth = 33.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 101.768306 meters
#   Minimum depth: 111.154279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 86.154279 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.843442;
longitude = -122.141586;
captureRadius = 10;
duration = 135;
initialDepth = 86.154279;
finalDepth = 86.118263;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.56555
#   Altitude Set: 25.56555
#   Vehicle Depth:86.154279 
#   Seafloor Depth:-111.154279
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.36;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.17;
MB_Bottom_Detect_Filter_Max_Range = 61.36;
MB_Bottom_Detect_Filter_Min_Depth = 19.17;
MB_Bottom_Detect_Filter_Max_Depth = 33.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.365466 meters
#   Minimum depth: 112.922813 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 87.922813 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.842994;
longitude = -122.142582;
captureRadius = 10;
duration = 136;
initialDepth = 87.922813;
finalDepth = 86.154279;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:87.922813 
#   Seafloor Depth:-112.922813
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 103.016881 meters
#   Minimum depth: 114.705504 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 89.705504 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.842543;
longitude = -122.143583;
captureRadius = 10;
duration = 137;
initialDepth = 89.705504;
finalDepth = 87.922813;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.719111
#   Altitude Set: 25.719111
#   Vehicle Depth:89.705504 
#   Seafloor Depth:-115.424615
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.73;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.29;
MB_Bottom_Detect_Filter_Max_Range = 61.73;
MB_Bottom_Detect_Filter_Min_Depth = 19.29;
MB_Bottom_Detect_Filter_Max_Depth = 33.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 103.017325 meters
#   Minimum depth: 115.487984 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 90.487984 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.842090;
longitude = -122.144591;
captureRadius = 10;
duration = 137;
initialDepth = 90.487984;
finalDepth = 89.705504;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.719111
#   Altitude Set: 25.719111
#   Vehicle Depth:90.487984 
#   Seafloor Depth:-115.751246
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.73;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.29;
MB_Bottom_Detect_Filter_Max_Range = 61.73;
MB_Bottom_Detect_Filter_Min_Depth = 19.29;
MB_Bottom_Detect_Filter_Max_Depth = 33.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 103.017770 meters
#   Minimum depth: 115.673288 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 90.673288 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.841636;
longitude = -122.145600;
captureRadius = 10;
duration = 137;
initialDepth = 90.673288;
finalDepth = 90.487984;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.263262
#   Altitude Set: 25.263262
#   Vehicle Depth:90.673288 
#   Seafloor Depth:-115.915736
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.63;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.95;
MB_Bottom_Detect_Filter_Max_Range = 60.63;
MB_Bottom_Detect_Filter_Min_Depth = 18.95;
MB_Bottom_Detect_Filter_Max_Depth = 32.84;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 103.018213 meters
#   Minimum depth: 117.025594 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 92.025594 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.841183;
longitude = -122.146608;
captureRadius = 10;
duration = 137;
initialDepth = 92.025594;
finalDepth = 90.673288;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.315454
#   Altitude Set: 25.315454
#   Vehicle Depth:92.025594 
#   Seafloor Depth:-117.341048
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.76;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.99;
MB_Bottom_Detect_Filter_Max_Range = 60.76;
MB_Bottom_Detect_Filter_Min_Depth = 18.99;
MB_Bottom_Detect_Filter_Max_Depth = 32.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 103.018657 meters
#   Minimum depth: 118.342517 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 93.342517 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.840729;
longitude = -122.147616;
captureRadius = 10;
duration = 137;
initialDepth = 93.342517;
finalDepth = 92.025594;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.33693
#   Altitude Set: 25.33693
#   Vehicle Depth:93.342517 
#   Seafloor Depth:-118.679447
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.81;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.00;
MB_Bottom_Detect_Filter_Max_Range = 60.81;
MB_Bottom_Detect_Filter_Min_Depth = 19.00;
MB_Bottom_Detect_Filter_Max_Depth = 32.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 103.019102 meters
#   Minimum depth: 120.463915 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 95.463915 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.840276;
longitude = -122.148624;
captureRadius = 10;
duration = 137;
initialDepth = 95.463915;
finalDepth = 93.342517;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.33693
#   Altitude Set: 25.33693
#   Vehicle Depth:95.463915 
#   Seafloor Depth:-120.463915
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.81;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.00;
MB_Bottom_Detect_Filter_Max_Range = 60.81;
MB_Bottom_Detect_Filter_Min_Depth = 19.00;
MB_Bottom_Detect_Filter_Max_Depth = 32.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 110.650641 meters
#   Minimum depth: 122.905507 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 97.905507 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.839822;
longitude = -122.149632;
captureRadius = 10;
duration = 147;
initialDepth = 97.905507;
finalDepth = 95.463915;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:97.905507 
#   Seafloor Depth:-122.905507
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 99.300969 meters
#   Minimum depth: 124.809376 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 99.809376 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.839335;
longitude = -122.150715;
captureRadius = 10;
duration = 132;
initialDepth = 99.809376;
finalDepth = 97.905507;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.033458
#   Altitude Set: 25.033458
#   Vehicle Depth:99.809376 
#   Seafloor Depth:-124.842834
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.08;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.78;
MB_Bottom_Detect_Filter_Max_Range = 60.08;
MB_Bottom_Detect_Filter_Min_Depth = 18.78;
MB_Bottom_Detect_Filter_Max_Depth = 32.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.394266 meters
#   Minimum depth: 127.913973 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 102.913973 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.839027;
longitude = -122.151761;
captureRadius = 10;
duration = 141;
initialDepth = 102.913973;
finalDepth = 99.809376;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.29466
#   Altitude Set: 25.29466
#   Vehicle Depth:102.913973 
#   Seafloor Depth:-128.208633
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.71;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.97;
MB_Bottom_Detect_Filter_Max_Range = 60.71;
MB_Bottom_Detect_Filter_Min_Depth = 18.97;
MB_Bottom_Detect_Filter_Max_Depth = 32.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.394649 meters
#   Minimum depth: 129.650467 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 104.650467 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.838696;
longitude = -122.152881;
captureRadius = 10;
duration = 141;
initialDepth = 104.650467;
finalDepth = 102.913973;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.29466
#   Altitude Set: 25.29466
#   Vehicle Depth:104.650467 
#   Seafloor Depth:-129.650467
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.71;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.97;
MB_Bottom_Detect_Filter_Max_Range = 60.71;
MB_Bottom_Detect_Filter_Min_Depth = 18.97;
MB_Bottom_Detect_Filter_Max_Depth = 32.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.395032 meters
#   Minimum depth: 136.357785 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 111.357785 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.838366;
longitude = -122.154001;
captureRadius = 10;
duration = 141;
initialDepth = 111.357785;
finalDepth = 104.650467;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:111.357785 
#   Seafloor Depth:-136.357785
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.395414 meters
#   Minimum depth: 141.099787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 116.099787 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.838036;
longitude = -122.155121;
captureRadius = 10;
duration = 141;
initialDepth = 116.099787;
finalDepth = 111.357785;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:116.099787 
#   Seafloor Depth:-141.099787
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.536309 meters
#   Minimum depth: 145.492835 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 120.492835 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.837705;
longitude = -122.156241;
captureRadius = 10;
duration = 134;
initialDepth = 120.492835;
finalDepth = 116.099787;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:120.492835 
#   Seafloor Depth:-145.492835
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.616034 meters
#   Minimum depth: 154.954303 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 129.954303 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.837393;
longitude = -122.157300;
captureRadius = 10;
duration = 135;
initialDepth = 129.954303;
finalDepth = 120.492835;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.046401
#   Altitude Set: 25.046401
#   Vehicle Depth:129.954303 
#   Seafloor Depth:-155.000704
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.11;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.78;
MB_Bottom_Detect_Filter_Max_Range = 60.11;
MB_Bottom_Detect_Filter_Min_Depth = 18.78;
MB_Bottom_Detect_Filter_Max_Depth = 32.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.849968 meters
#   Minimum depth: 166.433408 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 141.433408 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.837078;
longitude = -122.158369;
captureRadius = 10;
duration = 137;
initialDepth = 141.433408;
finalDepth = 129.954303;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.046401
#   Altitude Set: 25.046401
#   Vehicle Depth:141.433408 
#   Seafloor Depth:-166.433408
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.11;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.78;
MB_Bottom_Detect_Filter_Max_Range = 60.11;
MB_Bottom_Detect_Filter_Min_Depth = 18.78;
MB_Bottom_Detect_Filter_Max_Depth = 32.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 15.144446 meters
#   Minimum depth: 169.079260 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 144.079260 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836759;
longitude = -122.159452;
captureRadius = 10;
duration = 20;
initialDepth = 144.079260;
finalDepth = 141.433408;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 37.686711
#   Altitude Set: 37.686711
#   Vehicle Depth:144.07926 
#   Seafloor Depth:-181.765971
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 90.45;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 28.27;
MB_Bottom_Detect_Filter_Max_Range = 90.45;
MB_Bottom_Detect_Filter_Min_Depth = 28.27;
MB_Bottom_Detect_Filter_Max_Depth = 48.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.011304 meters
#   Minimum depth: 185.068359 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 160.068359 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836721;
longitude = -122.159616;
captureRadius = 10;
duration = 141;
initialDepth = 160.068359;
finalDepth = 144.079260;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 37.686711
#   Altitude Set: 37.686711
#   Vehicle Depth:160.068359 
#   Seafloor Depth:-185.068359
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 90.45;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 28.27;
MB_Bottom_Detect_Filter_Max_Range = 90.45;
MB_Bottom_Detect_Filter_Min_Depth = 28.27;
MB_Bottom_Detect_Filter_Max_Depth = 48.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 58.460492 meters
#   Minimum depth: 200.032307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 175.032307 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836460;
longitude = -122.160759;
captureRadius = 10;
duration = 77;
initialDepth = 175.032307;
finalDepth = 160.068359;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.607179
#   Altitude Set: 31.607179
#   Vehicle Depth:175.032307 
#   Seafloor Depth:-206.639486
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 75.86;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.71;
MB_Bottom_Detect_Filter_Max_Range = 75.86;
MB_Bottom_Detect_Filter_Min_Depth = 23.71;
MB_Bottom_Detect_Filter_Max_Depth = 41.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.977488 meters
#   Minimum depth: 221.258713 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 196.258713 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836049;
longitude = -122.161170;
captureRadius = 10;
duration = 134;
initialDepth = 196.258713;
finalDepth = 175.032307;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.607179
#   Altitude Set: 31.607179
#   Vehicle Depth:196.258713 
#   Seafloor Depth:-221.258713
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 75.86;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.71;
MB_Bottom_Detect_Filter_Max_Range = 75.86;
MB_Bottom_Detect_Filter_Min_Depth = 23.71;
MB_Bottom_Detect_Filter_Max_Depth = 41.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 33.587328 meters
#   Minimum depth: 232.952347 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 207.952347 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.835340;
longitude = -122.161879;
captureRadius = 10;
duration = 44;
initialDepth = 207.952347;
finalDepth = 196.258713;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 34.282984
#   Altitude Set: 34.282984
#   Vehicle Depth:207.952347 
#   Seafloor Depth:-242.235331
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 82.28;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 25.71;
MB_Bottom_Detect_Filter_Max_Range = 82.28;
MB_Bottom_Detect_Filter_Min_Depth = 25.71;
MB_Bottom_Detect_Filter_Max_Depth = 44.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 100.762294 meters
#   Minimum depth: 225.342130 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 200.342130 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.835153;
longitude = -122.161583;
captureRadius = 10;
duration = 134;
initialDepth = 200.342130;
finalDepth = 207.952347;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 36.351326
#   Altitude Set: 36.351326
#   Vehicle Depth:200.34213 
#   Seafloor Depth:-236.693456
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 87.24;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 27.26;
MB_Bottom_Detect_Filter_Max_Range = 87.24;
MB_Bottom_Detect_Filter_Min_Depth = 27.26;
MB_Bottom_Detect_Filter_Max_Depth = 47.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 100.762762 meters
#   Minimum depth: 216.953906 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 191.953906 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.834593;
longitude = -122.160693;
captureRadius = 10;
duration = 134;
initialDepth = 191.953906;
finalDepth = 200.342130;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 36.351326
#   Altitude Set: 36.351326
#   Vehicle Depth:191.953906 
#   Seafloor Depth:-224.926636
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 87.24;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 27.26;
MB_Bottom_Detect_Filter_Max_Range = 87.24;
MB_Bottom_Detect_Filter_Min_Depth = 27.26;
MB_Bottom_Detect_Filter_Max_Depth = 47.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 107.480793 meters
#   Minimum depth: 206.274638 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 181.274638 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.834033;
longitude = -122.159804;
captureRadius = 10;
duration = 143;
initialDepth = 181.274638;
finalDepth = 191.953906;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 35.41666
#   Altitude Set: 35.41666
#   Vehicle Depth:181.274638 
#   Seafloor Depth:-216.691298
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 85.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 85.00;
MB_Bottom_Detect_Filter_Min_Depth = 26.56;
MB_Bottom_Detect_Filter_Max_Depth = 46.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 29
#   Segment length 5.030328 meters
#   Minimum depth: 205.151733 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 180.151733 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.833435;
longitude = -122.158855;
captureRadius = 10;
duration = 6;
initialDepth = 180.151733;
finalDepth = 181.274638;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 35.41666
#   Altitude Set: 35.41666
#   Vehicle Depth:180.151733 
#   Seafloor Depth:-205.151733
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 85.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 85.00;
MB_Bottom_Detect_Filter_Min_Depth = 26.56;
MB_Bottom_Detect_Filter_Max_Depth = 46.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 100.606421 meters
#   Minimum depth: 189.724090 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 164.724090 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.833473;
longitude = -122.158823;
captureRadius = 10;
duration = 134;
initialDepth = 164.724090;
finalDepth = 180.151733;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 39.739325
#   Altitude Set: 39.739325
#   Vehicle Depth:164.72409 
#   Seafloor Depth:-204.463415
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 95.37;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 29.80;
MB_Bottom_Detect_Filter_Max_Range = 95.37;
MB_Bottom_Detect_Filter_Min_Depth = 29.80;
MB_Bottom_Detect_Filter_Max_Depth = 51.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 8.669886 meters
#   Minimum depth: 186.017029 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 161.017029 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.834219;
longitude = -122.158183;
captureRadius = 10;
duration = 11;
initialDepth = 161.017029;
finalDepth = 164.724090;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 39.739325
#   Altitude Set: 39.739325
#   Vehicle Depth:161.017029 
#   Seafloor Depth:-186.017029
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 95.37;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 29.80;
MB_Bottom_Detect_Filter_Max_Range = 95.37;
MB_Bottom_Detect_Filter_Min_Depth = 29.80;
MB_Bottom_Detect_Filter_Max_Depth = 51.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 104.038365 meters
#   Minimum depth: 186.699388 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 161.699388 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.834270;
longitude = -122.158257;
captureRadius = 10;
duration = 138;
initialDepth = 161.699388;
finalDepth = 161.017029;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:161.699388 
#   Seafloor Depth:-186.699388
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 104.037875 meters
#   Minimum depth: 199.807940 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 174.807940 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.834870;
longitude = -122.159154;
captureRadius = 10;
duration = 138;
initialDepth = 174.807940;
finalDepth = 161.699388;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:174.80794 
#   Seafloor Depth:-199.807940
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 100.236025 meters
#   Minimum depth: 204.070550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 179.070550 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.835471;
longitude = -122.160050;
captureRadius = 10;
duration = 133;
initialDepth = 179.070550;
finalDepth = 174.807940;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:179.07055 
#   Seafloor Depth:-204.070550
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 103.503389 meters
#   Minimum depth: 216.964654 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 191.964654 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836049;
longitude = -122.160913;
captureRadius = 10;
duration = 138;
initialDepth = 191.964654;
finalDepth = 179.070550;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:191.964654 
#   Seafloor Depth:-216.964654
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 86.328290 meters
#   Minimum depth: 213.468186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 188.468186 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836646;
longitude = -122.161805;
captureRadius = 10;
duration = 115;
initialDepth = 188.468186;
finalDepth = 191.964654;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 44.91308
#   Altitude Set: 44.91308
#   Vehicle Depth:188.468186 
#   Seafloor Depth:-233.381266
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 107.79;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 33.68;
MB_Bottom_Detect_Filter_Max_Range = 107.79;
MB_Bottom_Detect_Filter_Min_Depth = 33.68;
MB_Bottom_Detect_Filter_Max_Depth = 58.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 47.869630 meters
#   Minimum depth: 203.725632 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 178.725632 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.837207;
longitude = -122.161133;
captureRadius = 10;
duration = 63;
initialDepth = 178.725632;
finalDepth = 188.468186;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 44.91308
#   Altitude Set: 44.91308
#   Vehicle Depth:178.725632 
#   Seafloor Depth:-213.765564
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 107.79;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 33.68;
MB_Bottom_Detect_Filter_Max_Range = 107.79;
MB_Bottom_Detect_Filter_Min_Depth = 33.68;
MB_Bottom_Detect_Filter_Max_Depth = 58.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 100.091380 meters
#   Minimum depth: 194.479781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 169.479781 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836929;
longitude = -122.160722;
captureRadius = 10;
duration = 133;
initialDepth = 169.479781;
finalDepth = 178.725632;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 35.039932
#   Altitude Set: 35.039932
#   Vehicle Depth:169.479781 
#   Seafloor Depth:-203.131420
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 84.10;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 26.28;
MB_Bottom_Detect_Filter_Max_Range = 84.10;
MB_Bottom_Detect_Filter_Min_Depth = 26.28;
MB_Bottom_Detect_Filter_Max_Depth = 45.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   Segment length 60.013424 meters
#   Minimum depth: 194.049296 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 169.049296 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836348;
longitude = -122.159863;
captureRadius = 10;
duration = 80;
initialDepth = 169.049296;
finalDepth = 169.479781;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 33.651639
#   Altitude Set: 33.651639
#   Vehicle Depth:169.049296 
#   Seafloor Depth:-194.049296
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 80.76;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 25.24;
MB_Bottom_Detect_Filter_Max_Range = 80.76;
MB_Bottom_Detect_Filter_Min_Depth = 25.24;
MB_Bottom_Detect_Filter_Max_Depth = 43.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 103.705131 meters
#   Minimum depth: 205.679568 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 180.679568 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.835937;
longitude = -122.160301;
captureRadius = 10;
duration = 138;
initialDepth = 180.679568;
finalDepth = 169.049296;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:180.679568 
#   Seafloor Depth:-205.679568
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 109.070777 meters
#   Minimum depth: 226.873938 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 201.873938 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.835227;
longitude = -122.161058;
captureRadius = 10;
duration = 145;
initialDepth = 201.873938;
finalDepth = 180.679568;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:201.873938 
#   Seafloor Depth:-226.873938
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 105.811286 meters
#   Minimum depth: 247.871502 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 222.871502 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.834481;
longitude = -122.161854;
captureRadius = 10;
duration = 141;
initialDepth = 222.871502;
finalDepth = 201.873938;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:222.871502 
#   Seafloor Depth:-247.871502
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 107.441652 meters
#   Minimum depth: 265.561731 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 240.561731 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.833757;
longitude = -122.162626;
captureRadius = 10;
duration = 143;
initialDepth = 240.561731;
finalDepth = 222.871502;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:240.561731 
#   Seafloor Depth:-265.561731
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 114.097784 meters
#   Minimum depth: 278.594096 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 253.594096 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.833021;
longitude = -122.163410;
captureRadius = 10;
duration = 152;
initialDepth = 253.594096;
finalDepth = 240.561731;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:253.594096 
#   Seafloor Depth:-278.594096
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.786764 meters
#   Minimum depth: 289.275088 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 264.275088 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.832241;
longitude = -122.164243;
captureRadius = 10;
duration = 134;
initialDepth = 264.275088;
finalDepth = 253.594096;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:264.275088 
#   Seafloor Depth:-289.275088
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 111.993267 meters
#   Minimum depth: 299.801025 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 274.801025 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.831551;
longitude = -122.164978;
captureRadius = 10;
duration = 149;
initialDepth = 274.801025;
finalDepth = 264.275088;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:274.801025 
#   Seafloor Depth:-299.801025
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 102.892938 meters
#   Minimum depth: 309.270225 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 284.270225 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.830784;
longitude = -122.165796;
captureRadius = 10;
duration = 137;
initialDepth = 284.270225;
finalDepth = 274.801025;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:284.270225 
#   Seafloor Depth:-309.270225
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 109.888718 meters
#   Minimum depth: 309.495293 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 284.495293 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.830080;
longitude = -122.166547;
captureRadius = 10;
duration = 146;
initialDepth = 284.495293;
finalDepth = 284.270225;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.909761
#   Altitude Set: 28.909761
#   Vehicle Depth:284.495293 
#   Seafloor Depth:-313.405054
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.68;
MB_Bottom_Detect_Filter_Max_Range = 69.38;
MB_Bottom_Detect_Filter_Min_Depth = 21.68;
MB_Bottom_Detect_Filter_Max_Depth = 37.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 104.999143 meters
#   Minimum depth: 305.296361 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 280.296361 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.829328;
longitude = -122.167349;
captureRadius = 10;
duration = 139;
initialDepth = 280.296361;
finalDepth = 284.495293;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.019148
#   Altitude Set: 29.019148
#   Vehicle Depth:280.296361 
#   Seafloor Depth:-309.315509
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.65;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.76;
MB_Bottom_Detect_Filter_Max_Range = 69.65;
MB_Bottom_Detect_Filter_Min_Depth = 21.76;
MB_Bottom_Detect_Filter_Max_Depth = 37.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 102.328136 meters
#   Minimum depth: 304.696043 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 279.696043 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.828609;
longitude = -122.168115;
captureRadius = 10;
duration = 136;
initialDepth = 279.696043;
finalDepth = 280.296361;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.019148
#   Altitude Set: 29.019148
#   Vehicle Depth:279.696043 
#   Seafloor Depth:-305.236319
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.65;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.76;
MB_Bottom_Detect_Filter_Max_Range = 69.65;
MB_Bottom_Detect_Filter_Min_Depth = 21.76;
MB_Bottom_Detect_Filter_Max_Depth = 37.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   Segment length 29.795449 meters
#   Minimum depth: 304.991154 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 279.991154 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.827909;
longitude = -122.168862;
captureRadius = 10;
duration = 39;
initialDepth = 279.991154;
finalDepth = 279.696043;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.151465
#   Altitude Set: 27.151465
#   Vehicle Depth:279.991154 
#   Seafloor Depth:-307.142619
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 65.16;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.36;
MB_Bottom_Detect_Filter_Max_Range = 65.16;
MB_Bottom_Detect_Filter_Min_Depth = 20.36;
MB_Bottom_Detect_Filter_Max_Depth = 35.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.155854 meters
#   Minimum depth: 307.306463 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 282.306463 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.827648;
longitude = -122.168939;
captureRadius = 10;
duration = 136;
initialDepth = 282.306463;
finalDepth = 279.991154;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.151465
#   Altitude Set: 27.151465
#   Vehicle Depth:282.306463 
#   Seafloor Depth:-307.306463
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 65.16;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.36;
MB_Bottom_Detect_Filter_Max_Range = 65.16;
MB_Bottom_Detect_Filter_Min_Depth = 20.36;
MB_Bottom_Detect_Filter_Max_Depth = 35.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.155899 meters
#   Minimum depth: 312.672426 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 287.672426 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.826752;
longitude = -122.169202;
captureRadius = 10;
duration = 136;
initialDepth = 287.672426;
finalDepth = 282.306463;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:287.672426 
#   Seafloor Depth:-312.672426
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.155942 meters
#   Minimum depth: 317.245816 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 292.245816 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.825856;
longitude = -122.169466;
captureRadius = 10;
duration = 136;
initialDepth = 292.245816;
finalDepth = 287.672426;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:292.245816 
#   Seafloor Depth:-317.245816
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.155987 meters
#   Minimum depth: 320.782950 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 295.782950 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.824959;
longitude = -122.169729;
captureRadius = 10;
duration = 136;
initialDepth = 295.782950;
finalDepth = 292.245816;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:295.78295 
#   Seafloor Depth:-320.782950
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.156031 meters
#   Minimum depth: 323.609476 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 298.609476 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.824063;
longitude = -122.169993;
captureRadius = 10;
duration = 136;
initialDepth = 298.609476;
finalDepth = 295.782950;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:298.609476 
#   Seafloor Depth:-323.609476
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 110.669084 meters
#   Minimum depth: 328.230510 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 303.230510 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.823167;
longitude = -122.170256;
captureRadius = 10;
duration = 147;
initialDepth = 303.230510;
finalDepth = 298.609476;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:303.23051 
#   Seafloor Depth:-328.230510
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 17.303604 meters
#   Minimum depth: 329.410187 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 304.410187 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822196;
longitude = -122.170542;
captureRadius = 10;
duration = 23;
initialDepth = 304.410187;
finalDepth = 303.230510;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.898529
#   Altitude Set: 27.898529
#   Vehicle Depth:304.410187 
#   Seafloor Depth:-332.308716
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.96;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.92;
MB_Bottom_Detect_Filter_Max_Range = 66.96;
MB_Bottom_Detect_Filter_Min_Depth = 20.92;
MB_Bottom_Detect_Filter_Max_Depth = 36.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 103.821822 meters
#   Minimum depth: 331.737374 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 306.737374 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822154;
longitude = -122.170355;
captureRadius = 10;
duration = 138;
initialDepth = 306.737374;
finalDepth = 304.410187;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.898529
#   Altitude Set: 27.898529
#   Vehicle Depth:306.737374 
#   Seafloor Depth:-331.911292
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.96;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.92;
MB_Bottom_Detect_Filter_Max_Range = 66.96;
MB_Bottom_Detect_Filter_Min_Depth = 20.92;
MB_Bottom_Detect_Filter_Max_Depth = 36.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 107.282904 meters
#   Minimum depth: 336.118331 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 311.118331 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821899;
longitude = -122.169235;
captureRadius = 10;
duration = 143;
initialDepth = 311.118331;
finalDepth = 306.737374;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.173918
#   Altitude Set: 25.173918
#   Vehicle Depth:311.118331 
#   Seafloor Depth:-336.118331
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.42;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.88;
MB_Bottom_Detect_Filter_Max_Range = 60.42;
MB_Bottom_Detect_Filter_Min_Depth = 18.88;
MB_Bottom_Detect_Filter_Max_Depth = 32.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 84.502376 meters
#   Minimum depth: 338.788652 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 313.788652 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821636;
longitude = -122.168078;
captureRadius = 10;
duration = 112;
initialDepth = 313.788652;
finalDepth = 311.118331;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.805668
#   Altitude Set: 25.805668
#   Vehicle Depth:313.788652 
#   Seafloor Depth:-339.594320
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.93;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.35;
MB_Bottom_Detect_Filter_Max_Range = 61.93;
MB_Bottom_Detect_Filter_Min_Depth = 19.35;
MB_Bottom_Detect_Filter_Max_Depth = 33.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 100.138969 meters
#   Minimum depth: 340.264228 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 315.264228 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.820889;
longitude = -122.168264;
captureRadius = 10;
duration = 133;
initialDepth = 315.264228;
finalDepth = 313.788652;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.859389
#   Altitude Set: 26.859389
#   Vehicle Depth:315.264228 
#   Seafloor Depth:-342.123617
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.46;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.14;
MB_Bottom_Detect_Filter_Max_Range = 64.46;
MB_Bottom_Detect_Filter_Min_Depth = 20.14;
MB_Bottom_Detect_Filter_Max_Depth = 34.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 103.591716 meters
#   Minimum depth: 337.697718 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 312.697718 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821128;
longitude = -122.169347;
captureRadius = 10;
duration = 138;
initialDepth = 312.697718;
finalDepth = 315.264228;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.557353
#   Altitude Set: 27.557353
#   Vehicle Depth:312.697718 
#   Seafloor Depth:-340.255071
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.14;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.67;
MB_Bottom_Detect_Filter_Max_Range = 66.14;
MB_Bottom_Detect_Filter_Min_Depth = 20.67;
MB_Bottom_Detect_Filter_Max_Depth = 35.82;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 103.591387 meters
#   Minimum depth: 336.278142 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 311.278142 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821375;
longitude = -122.170467;
captureRadius = 10;
duration = 138;
initialDepth = 311.278142;
finalDepth = 312.697718;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.557353
#   Altitude Set: 27.557353
#   Vehicle Depth:311.278142 
#   Seafloor Depth:-337.211273
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.14;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.67;
MB_Bottom_Detect_Filter_Max_Range = 66.14;
MB_Bottom_Detect_Filter_Min_Depth = 20.67;
MB_Bottom_Detect_Filter_Max_Depth = 35.82;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 100.138029 meters
#   Minimum depth: 337.430960 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 312.430960 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821622;
longitude = -122.171587;
captureRadius = 10;
duration = 133;
initialDepth = 312.430960;
finalDepth = 311.278142;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.933131
#   Altitude Set: 25.933131
#   Vehicle Depth:312.43096 
#   Seafloor Depth:-337.648156
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.24;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.45;
MB_Bottom_Detect_Filter_Max_Range = 62.24;
MB_Bottom_Detect_Filter_Min_Depth = 19.45;
MB_Bottom_Detect_Filter_Max_Depth = 33.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 94.064406 meters
#   Minimum depth: 336.709381 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 311.709381 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821860;
longitude = -122.172670;
captureRadius = 10;
duration = 125;
initialDepth = 311.709381;
finalDepth = 312.430960;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.858002
#   Altitude Set: 28.858002
#   Vehicle Depth:311.709381 
#   Seafloor Depth:-340.567383
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.26;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.64;
MB_Bottom_Detect_Filter_Max_Range = 69.26;
MB_Bottom_Detect_Filter_Min_Depth = 21.64;
MB_Bottom_Detect_Filter_Max_Depth = 37.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 67.307943 meters
#   Minimum depth: 335.203569 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 310.203569 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822682;
longitude = -122.172409;
captureRadius = 10;
duration = 89;
initialDepth = 310.203569;
finalDepth = 311.709381;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.858002
#   Altitude Set: 28.858002
#   Vehicle Depth:310.203569 
#   Seafloor Depth:-337.507039
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.26;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.64;
MB_Bottom_Detect_Filter_Max_Range = 69.26;
MB_Bottom_Detect_Filter_Min_Depth = 21.64;
MB_Bottom_Detect_Filter_Max_Depth = 37.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 107.693032 meters
#   Minimum depth: 332.346295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 307.346295 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822495;
longitude = -122.171691;
captureRadius = 10;
duration = 143;
initialDepth = 307.346295;
finalDepth = 310.203569;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.157149
#   Altitude Set: 28.157149
#   Vehicle Depth:307.346295 
#   Seafloor Depth:-335.503444
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.58;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.12;
MB_Bottom_Detect_Filter_Max_Range = 67.58;
MB_Bottom_Detect_Filter_Min_Depth = 21.12;
MB_Bottom_Detect_Filter_Max_Depth = 36.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 4.278757 meters
#   Minimum depth: 332.308716 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 307.308716 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822196;
longitude = -122.170542;
captureRadius = 10;
duration = 5;
initialDepth = 307.308716;
finalDepth = 307.346295;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.157149
#   Altitude Set: 28.157149
#   Vehicle Depth:307.308716 
#   Seafloor Depth:-332.308716
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.58;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.12;
MB_Bottom_Detect_Filter_Max_Range = 67.58;
MB_Bottom_Detect_Filter_Min_Depth = 21.12;
MB_Bottom_Detect_Filter_Max_Depth = 36.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 102.690192 meters
#   Minimum depth: 332.722220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 307.722220 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822159;
longitude = -122.170554;
captureRadius = 10;
duration = 136;
initialDepth = 307.722220;
finalDepth = 307.308716;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:307.72222 
#   Seafloor Depth:-332.722220
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 102.690248 meters
#   Minimum depth: 337.749838 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 312.749838 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821263;
longitude = -122.170842;
captureRadius = 10;
duration = 136;
initialDepth = 312.749838;
finalDepth = 307.722220;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.160573
#   Altitude Set: 25.160573
#   Vehicle Depth:312.749838 
#   Seafloor Depth:-337.910411
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.39;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.87;
MB_Bottom_Detect_Filter_Max_Range = 60.39;
MB_Bottom_Detect_Filter_Min_Depth = 18.87;
MB_Bottom_Detect_Filter_Max_Depth = 32.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 102.690304 meters
#   Minimum depth: 342.177332 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 317.177332 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.820367;
longitude = -122.171131;
captureRadius = 10;
duration = 136;
initialDepth = 317.177332;
finalDepth = 312.749838;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.160573
#   Altitude Set: 25.160573
#   Vehicle Depth:317.177332 
#   Seafloor Depth:-342.177332
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.39;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.87;
MB_Bottom_Detect_Filter_Max_Range = 60.39;
MB_Bottom_Detect_Filter_Min_Depth = 18.87;
MB_Bottom_Detect_Filter_Max_Depth = 32.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 102.690361 meters
#   Minimum depth: 349.974670 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 324.974670 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.819471;
longitude = -122.171419;
captureRadius = 10;
duration = 136;
initialDepth = 324.974670;
finalDepth = 317.177332;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:324.97467 
#   Seafloor Depth:-349.974670
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 102.690416 meters
#   Minimum depth: 353.804111 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 328.804111 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.818574;
longitude = -122.171708;
captureRadius = 10;
duration = 136;
initialDepth = 328.804111;
finalDepth = 324.974670;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:328.804111 
#   Seafloor Depth:-353.804111
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 106.969243 meters
#   Minimum depth: 355.476260 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 330.476260 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.817678;
longitude = -122.171996;
captureRadius = 10;
duration = 142;
initialDepth = 330.476260;
finalDepth = 328.804111;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.45663
#   Altitude Set: 25.45663
#   Vehicle Depth:330.47626 
#   Seafloor Depth:-355.932890
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.10;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.09;
MB_Bottom_Detect_Filter_Max_Range = 61.10;
MB_Bottom_Detect_Filter_Min_Depth = 19.09;
MB_Bottom_Detect_Filter_Max_Depth = 33.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 82.604492 meters
#   Minimum depth: 356.656995 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 331.656995 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816745;
longitude = -122.172297;
captureRadius = 10;
duration = 110;
initialDepth = 331.656995;
finalDepth = 330.476260;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.270658
#   Altitude Set: 26.270658
#   Vehicle Depth:331.656995 
#   Seafloor Depth:-357.927653
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.05;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.70;
MB_Bottom_Detect_Filter_Max_Range = 63.05;
MB_Bottom_Detect_Filter_Min_Depth = 19.70;
MB_Bottom_Detect_Filter_Max_Depth = 34.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.041205 meters
#   Minimum depth: 359.647305 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 334.647305 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816203;
longitude = -122.172932;
captureRadius = 10;
duration = 136;
initialDepth = 334.647305;
finalDepth = 331.656995;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.270658
#   Altitude Set: 26.270658
#   Vehicle Depth:334.647305 
#   Seafloor Depth:-359.647305
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.05;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.70;
MB_Bottom_Detect_Filter_Max_Range = 63.05;
MB_Bottom_Detect_Filter_Min_Depth = 19.70;
MB_Bottom_Detect_Filter_Max_Depth = 34.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.041603 meters
#   Minimum depth: 362.100685 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 337.100685 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.815533;
longitude = -122.173716;
captureRadius = 10;
duration = 136;
initialDepth = 337.100685;
finalDepth = 334.647305;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.557334
#   Altitude Set: 26.557334
#   Vehicle Depth:337.100685 
#   Seafloor Depth:-363.658019
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.74;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.92;
MB_Bottom_Detect_Filter_Max_Range = 63.74;
MB_Bottom_Detect_Filter_Min_Depth = 19.92;
MB_Bottom_Detect_Filter_Max_Depth = 34.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.042002 meters
#   Minimum depth: 365.717315 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 340.717315 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.814863;
longitude = -122.174500;
captureRadius = 10;
duration = 136;
initialDepth = 340.717315;
finalDepth = 337.100685;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.557334
#   Altitude Set: 26.557334
#   Vehicle Depth:340.717315 
#   Seafloor Depth:-365.717315
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.74;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.92;
MB_Bottom_Detect_Filter_Max_Range = 63.74;
MB_Bottom_Detect_Filter_Min_Depth = 19.92;
MB_Bottom_Detect_Filter_Max_Depth = 34.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.042401 meters
#   Minimum depth: 372.223004 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 347.223004 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.814193;
longitude = -122.175284;
captureRadius = 10;
duration = 136;
initialDepth = 347.223004;
finalDepth = 340.717315;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.07832
#   Altitude Set: 25.07832
#   Vehicle Depth:347.223004 
#   Seafloor Depth:-372.301324
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.19;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.81;
MB_Bottom_Detect_Filter_Max_Range = 60.19;
MB_Bottom_Detect_Filter_Min_Depth = 18.81;
MB_Bottom_Detect_Filter_Max_Depth = 32.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.042800 meters
#   Minimum depth: 376.455797 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 351.455797 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.813524;
longitude = -122.176068;
captureRadius = 10;
duration = 136;
initialDepth = 351.455797;
finalDepth = 347.223004;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.07832
#   Altitude Set: 25.07832
#   Vehicle Depth:351.455797 
#   Seafloor Depth:-376.455797
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.19;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.81;
MB_Bottom_Detect_Filter_Max_Range = 60.19;
MB_Bottom_Detect_Filter_Min_Depth = 18.81;
MB_Bottom_Detect_Filter_Max_Depth = 32.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 106.902408 meters
#   Minimum depth: 377.255717 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 352.255717 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.812854;
longitude = -122.176852;
captureRadius = 10;
duration = 142;
initialDepth = 352.255717;
finalDepth = 351.455797;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.17735
#   Altitude Set: 27.17735
#   Vehicle Depth:352.255717 
#   Seafloor Depth:-379.433067
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 65.23;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.38;
MB_Bottom_Detect_Filter_Max_Range = 65.23;
MB_Bottom_Detect_Filter_Min_Depth = 20.38;
MB_Bottom_Detect_Filter_Max_Depth = 35.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 24.895832 meters
#   Minimum depth: 378.044631 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 353.044631 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.812152;
longitude = -122.177674;
captureRadius = 10;
duration = 33;
initialDepth = 353.044631;
finalDepth = 352.255717;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.59693
#   Altitude Set: 28.59693
#   Vehicle Depth:353.044631 
#   Seafloor Depth:-381.641561
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 68.63;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.45;
MB_Bottom_Detect_Filter_Max_Range = 68.63;
MB_Bottom_Detect_Filter_Min_Depth = 21.45;
MB_Bottom_Detect_Filter_Max_Depth = 37.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 104.562684 meters
#   Minimum depth: 381.874922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 356.874922 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.811966;
longitude = -122.177829;
captureRadius = 10;
duration = 139;
initialDepth = 356.874922;
finalDepth = 353.044631;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.59693
#   Altitude Set: 28.59693
#   Vehicle Depth:356.874922 
#   Seafloor Depth:-381.874922
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 68.63;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.45;
MB_Bottom_Detect_Filter_Max_Range = 68.63;
MB_Bottom_Detect_Filter_Min_Depth = 21.45;
MB_Bottom_Detect_Filter_Max_Depth = 37.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 104.562993 meters
#   Minimum depth: 383.295990 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 358.295990 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.811181;
longitude = -122.178479;
captureRadius = 10;
duration = 139;
initialDepth = 358.295990;
finalDepth = 356.874922;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.000495
#   Altitude Set: 25.000495
#   Vehicle Depth:358.29599 
#   Seafloor Depth:-383.296485
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 102.107799 meters
#   Minimum depth: 388.546273 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 363.546273 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.810397;
longitude = -122.179129;
captureRadius = 10;
duration = 136;
initialDepth = 363.546273;
finalDepth = 358.295990;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.158468
#   Altitude Set: 25.158468
#   Vehicle Depth:363.546273 
#   Seafloor Depth:-388.704741
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.87;
MB_Bottom_Detect_Filter_Max_Range = 60.38;
MB_Bottom_Detect_Filter_Min_Depth = 18.87;
MB_Bottom_Detect_Filter_Max_Depth = 32.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 102.039884 meters
#   Minimum depth: 394.580312 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 369.580312 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809632;
longitude = -122.179765;
captureRadius = 10;
duration = 136;
initialDepth = 369.580312;
finalDepth = 363.546273;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.357994
#   Altitude Set: 25.357994
#   Vehicle Depth:369.580312 
#   Seafloor Depth:-394.938306
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.86;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.02;
MB_Bottom_Detect_Filter_Max_Range = 60.86;
MB_Bottom_Detect_Filter_Min_Depth = 19.02;
MB_Bottom_Detect_Filter_Max_Depth = 32.97;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 43.144298 meters
#   Minimum depth: 397.839067 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 372.839067 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808866;
longitude = -122.180399;
captureRadius = 10;
duration = 57;
initialDepth = 372.839067;
finalDepth = 369.580312;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.062178
#   Altitude Set: 30.062178
#   Vehicle Depth:372.839067 
#   Seafloor Depth:-402.901245
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 72.15;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.55;
MB_Bottom_Detect_Filter_Max_Range = 72.15;
MB_Bottom_Detect_Filter_Min_Depth = 22.55;
MB_Bottom_Detect_Filter_Max_Depth = 39.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 105.900004 meters
#   Minimum depth: 398.281677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 373.281677 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808661;
longitude = -122.179989;
captureRadius = 10;
duration = 141;
initialDepth = 373.281677;
finalDepth = 372.839067;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.062178
#   Altitude Set: 30.062178
#   Vehicle Depth:373.281677 
#   Seafloor Depth:-401.694458
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 72.15;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.55;
MB_Bottom_Detect_Filter_Max_Range = 72.15;
MB_Bottom_Detect_Filter_Min_Depth = 22.55;
MB_Bottom_Detect_Filter_Max_Depth = 39.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 109.822770 meters
#   Minimum depth: 398.429687 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 373.429687 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808157;
longitude = -122.178981;
captureRadius = 10;
duration = 146;
initialDepth = 373.429687;
finalDepth = 373.281677;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.412781
#   Altitude Set: 28.412781
#   Vehicle Depth:373.429687 
#   Seafloor Depth:-399.897491
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 68.19;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.31;
MB_Bottom_Detect_Filter_Max_Range = 68.19;
MB_Bottom_Detect_Filter_Min_Depth = 21.31;
MB_Bottom_Detect_Filter_Max_Depth = 36.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 95.067716 meters
#   Minimum depth: 399.915139 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 374.915139 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807634;
longitude = -122.177935;
captureRadius = 10;
duration = 126;
initialDepth = 374.915139;
finalDepth = 373.429687;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.467804
#   Altitude Set: 26.467804
#   Vehicle Depth:374.915139 
#   Seafloor Depth:-400.290649
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.52;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.85;
MB_Bottom_Detect_Filter_Max_Range = 63.52;
MB_Bottom_Detect_Filter_Min_Depth = 19.85;
MB_Bottom_Detect_Filter_Max_Depth = 34.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 90.938246 meters
#   Minimum depth: 403.822781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 378.822781 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806887;
longitude = -122.178458;
captureRadius = 10;
duration = 121;
initialDepth = 378.822781;
finalDepth = 374.915139;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.360365
#   Altitude Set: 26.360365
#   Vehicle Depth:378.822781 
#   Seafloor Depth:-405.183146
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.26;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.77;
MB_Bottom_Detect_Filter_Max_Range = 63.26;
MB_Bottom_Detect_Filter_Min_Depth = 19.77;
MB_Bottom_Detect_Filter_Max_Depth = 34.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 106.753106 meters
#   Minimum depth: 403.097988 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 378.097988 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807329;
longitude = -122.179317;
captureRadius = 10;
duration = 142;
initialDepth = 378.097988;
finalDepth = 378.822781;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.360365
#   Altitude Set: 26.360365
#   Vehicle Depth:378.097988 
#   Seafloor Depth:-404.452441
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.26;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.77;
MB_Bottom_Detect_Filter_Max_Range = 63.26;
MB_Bottom_Detect_Filter_Min_Depth = 19.77;
MB_Bottom_Detect_Filter_Max_Depth = 34.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 109.827751 meters
#   Minimum depth: 406.813463 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 381.813463 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807848;
longitude = -122.180325;
captureRadius = 10;
duration = 146;
initialDepth = 381.813463;
finalDepth = 378.097988;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.354453
#   Altitude Set: 26.354453
#   Vehicle Depth:381.813463 
#   Seafloor Depth:-407.533764
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.25;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.77;
MB_Bottom_Detect_Filter_Max_Range = 63.25;
MB_Bottom_Detect_Filter_Min_Depth = 19.77;
MB_Bottom_Detect_Filter_Max_Depth = 34.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 107.630655 meters
#   Minimum depth: 410.011550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 385.011550 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808381;
longitude = -122.181362;
captureRadius = 10;
duration = 143;
initialDepth = 385.011550;
finalDepth = 381.813463;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.720301
#   Altitude Set: 25.720301
#   Vehicle Depth:385.01155 
#   Seafloor Depth:-410.053982
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.73;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.29;
MB_Bottom_Detect_Filter_Max_Range = 61.73;
MB_Bottom_Detect_Filter_Min_Depth = 19.29;
MB_Bottom_Detect_Filter_Max_Depth = 33.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 100.346852 meters
#   Minimum depth: 410.421338 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 385.421338 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808904;
longitude = -122.182378;
captureRadius = 10;
duration = 133;
initialDepth = 385.421338;
finalDepth = 385.011550;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.470833
#   Altitude Set: 29.470833
#   Vehicle Depth:385.421338 
#   Seafloor Depth:-414.892171
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.73;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.10;
MB_Bottom_Detect_Filter_Max_Range = 70.73;
MB_Bottom_Detect_Filter_Min_Depth = 22.10;
MB_Bottom_Detect_Filter_Max_Depth = 38.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 45.264046 meters
#   Minimum depth: 406.634976 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 381.634976 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809650;
longitude = -122.181744;
captureRadius = 10;
duration = 60;
initialDepth = 381.634976;
finalDepth = 385.421338;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.470833
#   Altitude Set: 29.470833
#   Vehicle Depth:381.634976 
#   Seafloor Depth:-410.603963
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.73;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.10;
MB_Bottom_Detect_Filter_Max_Range = 70.73;
MB_Bottom_Detect_Filter_Min_Depth = 22.10;
MB_Bottom_Detect_Filter_Max_Depth = 38.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.873185 meters
#   Minimum depth: 402.030646 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 377.030646 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809411;
longitude = -122.181333;
captureRadius = 10;
duration = 137;
initialDepth = 377.030646;
finalDepth = 381.634976;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.586098
#   Altitude Set: 29.586098
#   Vehicle Depth:377.030646 
#   Seafloor Depth:-406.616744
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 71.01;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.19;
MB_Bottom_Detect_Filter_Max_Range = 71.01;
MB_Bottom_Detect_Filter_Min_Depth = 22.19;
MB_Bottom_Detect_Filter_Max_Depth = 38.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 49.681381 meters
#   Minimum depth: 402.030646 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 377.030646 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808866;
longitude = -122.180399;
captureRadius = 10;
duration = 66;
initialDepth = 377.030646;
finalDepth = 377.030646;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.586098
#   Altitude Set: 29.586098
#   Vehicle Depth:377.030646 
#   Seafloor Depth:-402.901245
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 71.01;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.19;
MB_Bottom_Detect_Filter_Max_Range = 71.01;
MB_Bottom_Detect_Filter_Min_Depth = 22.19;
MB_Bottom_Detect_Filter_Max_Depth = 38.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 104.331125 meters
#   Minimum depth: 404.256506 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 379.256506 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808493;
longitude = -122.180707;
captureRadius = 10;
duration = 139;
initialDepth = 379.256506;
finalDepth = 377.030646;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.870599
#   Altitude Set: 25.870599
#   Vehicle Depth:379.256506 
#   Seafloor Depth:-404.256506
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.09;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.40;
MB_Bottom_Detect_Filter_Max_Range = 62.09;
MB_Bottom_Detect_Filter_Min_Depth = 19.40;
MB_Bottom_Detect_Filter_Max_Depth = 33.63;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 105.396036 meters
#   Minimum depth: 412.335575 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 387.335575 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807709;
longitude = -122.181353;
captureRadius = 10;
duration = 140;
initialDepth = 387.335575;
finalDepth = 379.256506;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:387.335575 
#   Seafloor Depth:-412.335575
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 103.267125 meters
#   Minimum depth: 417.566574 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 392.566574 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806917;
longitude = -122.182005;
captureRadius = 10;
duration = 137;
initialDepth = 392.566574;
finalDepth = 387.335575;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:392.566574 
#   Seafloor Depth:-417.566574
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 104.332036 meters
#   Minimum depth: 422.127576 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 397.127576 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806141;
longitude = -122.182644;
captureRadius = 10;
duration = 139;
initialDepth = 397.127576;
finalDepth = 392.566574;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:397.127576 
#   Seafloor Depth:-422.127576
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 104.332341 meters
#   Minimum depth: 425.737649 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 400.737649 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805357;
longitude = -122.183290;
captureRadius = 10;
duration = 139;
initialDepth = 400.737649;
finalDepth = 397.127576;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:400.737649 
#   Seafloor Depth:-425.737649
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 104.332645 meters
#   Minimum depth: 427.595001 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 402.595001 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804572;
longitude = -122.183936;
captureRadius = 10;
duration = 139;
initialDepth = 402.595001;
finalDepth = 400.737649;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.972945
#   Altitude Set: 26.972945
#   Vehicle Depth:402.595001 
#   Seafloor Depth:-429.567946
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.74;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.23;
MB_Bottom_Detect_Filter_Max_Range = 64.74;
MB_Bottom_Detect_Filter_Min_Depth = 20.23;
MB_Bottom_Detect_Filter_Max_Depth = 35.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 108.591443 meters
#   Minimum depth: 427.958525 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 402.958525 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803788;
longitude = -122.184581;
captureRadius = 10;
duration = 144;
initialDepth = 402.958525;
finalDepth = 402.595001;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.972945
#   Altitude Set: 26.972945
#   Vehicle Depth:402.958525 
#   Seafloor Depth:-428.910004
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.74;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.23;
MB_Bottom_Detect_Filter_Max_Range = 64.74;
MB_Bottom_Detect_Filter_Min_Depth = 20.23;
MB_Bottom_Detect_Filter_Max_Depth = 35.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.074759 meters
#   Minimum depth: 429.431524 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 404.431524 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802972;
longitude = -122.185253;
captureRadius = 10;
duration = 133;
initialDepth = 404.431524;
finalDepth = 402.958525;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.2599
#   Altitude Set: 26.2599
#   Vehicle Depth:404.431524 
#   Seafloor Depth:-430.691424
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.02;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.69;
MB_Bottom_Detect_Filter_Max_Range = 63.02;
MB_Bottom_Detect_Filter_Min_Depth = 19.69;
MB_Bottom_Detect_Filter_Max_Depth = 34.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 104.333557 meters
#   Minimum depth: 428.792572 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 403.792572 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802220;
longitude = -122.185873;
captureRadius = 10;
duration = 139;
initialDepth = 403.792572;
finalDepth = 404.431524;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.668592
#   Altitude Set: 26.668592
#   Vehicle Depth:403.792572 
#   Seafloor Depth:-430.461164
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.00;
MB_Bottom_Detect_Filter_Max_Range = 64.00;
MB_Bottom_Detect_Filter_Min_Depth = 20.00;
MB_Bottom_Detect_Filter_Max_Depth = 34.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.302147 meters
#   Minimum depth: 429.387187 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 404.387187 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801436;
longitude = -122.186519;
captureRadius = 10;
duration = 145;
initialDepth = 404.387187;
finalDepth = 403.792572;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.668592
#   Altitude Set: 26.668592
#   Vehicle Depth:404.387187 
#   Seafloor Depth:-429.550122
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.00;
MB_Bottom_Detect_Filter_Max_Range = 64.00;
MB_Bottom_Detect_Filter_Min_Depth = 20.00;
MB_Bottom_Detect_Filter_Max_Depth = 34.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 85.721637 meters
#   Minimum depth: 432.826113 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 407.826113 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800614;
longitude = -122.187195;
captureRadius = 10;
duration = 114;
initialDepth = 407.826113;
finalDepth = 404.387187;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.427549
#   Altitude Set: 25.427549
#   Vehicle Depth:407.826113 
#   Seafloor Depth:-433.253662
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.03;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.07;
MB_Bottom_Detect_Filter_Max_Range = 61.03;
MB_Bottom_Detect_Filter_Min_Depth = 19.07;
MB_Bottom_Detect_Filter_Max_Depth = 33.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.891734 meters
#   Minimum depth: 435.412196 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 410.412196 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799980;
longitude = -122.187743;
captureRadius = 10;
duration = 141;
initialDepth = 410.412196;
finalDepth = 407.826113;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.427549
#   Altitude Set: 25.427549
#   Vehicle Depth:410.412196 
#   Seafloor Depth:-435.412196
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.03;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.07;
MB_Bottom_Detect_Filter_Max_Range = 61.03;
MB_Bottom_Detect_Filter_Min_Depth = 19.07;
MB_Bottom_Detect_Filter_Max_Depth = 33.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.469011 meters
#   Minimum depth: 437.416729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 412.416729 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799196;
longitude = -122.188420;
captureRadius = 10;
duration = 133;
initialDepth = 412.416729;
finalDepth = 410.412196;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:412.416729 
#   Seafloor Depth:-437.416729
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.150273 meters
#   Minimum depth: 442.274339 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 417.274339 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798452;
longitude = -122.189062;
captureRadius = 10;
duration = 140;
initialDepth = 417.274339;
finalDepth = 412.416729;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.007155
#   Altitude Set: 26.007155
#   Vehicle Depth:417.274339 
#   Seafloor Depth:-443.281494
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.42;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.51;
MB_Bottom_Detect_Filter_Max_Range = 62.42;
MB_Bottom_Detect_Filter_Min_Depth = 19.51;
MB_Bottom_Detect_Filter_Max_Depth = 33.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.150598 meters
#   Minimum depth: 446.860363 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 421.860363 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797673;
longitude = -122.189734;
captureRadius = 10;
duration = 140;
initialDepth = 421.860363;
finalDepth = 417.274339;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.007155
#   Altitude Set: 26.007155
#   Vehicle Depth:421.860363 
#   Seafloor Depth:-446.860363
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.42;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.51;
MB_Bottom_Detect_Filter_Max_Range = 62.42;
MB_Bottom_Detect_Filter_Min_Depth = 19.51;
MB_Bottom_Detect_Filter_Max_Depth = 33.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.150924 meters
#   Minimum depth: 450.921673 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 425.921673 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796894;
longitude = -122.190406;
captureRadius = 10;
duration = 140;
initialDepth = 425.921673;
finalDepth = 421.860363;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.150285
#   Altitude Set: 26.150285
#   Vehicle Depth:425.921673 
#   Seafloor Depth:-452.071958
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.76;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.61;
MB_Bottom_Detect_Filter_Max_Range = 62.76;
MB_Bottom_Detect_Filter_Min_Depth = 19.61;
MB_Bottom_Detect_Filter_Max_Depth = 34.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.151250 meters
#   Minimum depth: 450.212290 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 425.212290 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796116;
longitude = -122.191078;
captureRadius = 10;
duration = 140;
initialDepth = 425.212290;
finalDepth = 425.921673;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.150285
#   Altitude Set: 26.150285
#   Vehicle Depth:425.21229 
#   Seafloor Depth:-450.212290
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.76;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.61;
MB_Bottom_Detect_Filter_Max_Range = 62.76;
MB_Bottom_Detect_Filter_Min_Depth = 19.61;
MB_Bottom_Detect_Filter_Max_Depth = 34.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.151576 meters
#   Minimum depth: 455.949594 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 430.949594 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795337;
longitude = -122.191750;
captureRadius = 10;
duration = 140;
initialDepth = 430.949594;
finalDepth = 425.212290;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.3833
#   Altitude Set: 25.3833
#   Vehicle Depth:430.949594 
#   Seafloor Depth:-456.332894
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.92;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.04;
MB_Bottom_Detect_Filter_Max_Range = 60.92;
MB_Bottom_Detect_Filter_Min_Depth = 19.04;
MB_Bottom_Detect_Filter_Max_Depth = 33.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.151901 meters
#   Minimum depth: 457.169925 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 432.169925 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794559;
longitude = -122.192423;
captureRadius = 10;
duration = 140;
initialDepth = 432.169925;
finalDepth = 430.949594;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.489514
#   Altitude Set: 26.489514
#   Vehicle Depth:432.169925 
#   Seafloor Depth:-458.659439
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.57;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.87;
MB_Bottom_Detect_Filter_Max_Range = 63.57;
MB_Bottom_Detect_Filter_Min_Depth = 19.87;
MB_Bottom_Detect_Filter_Max_Depth = 34.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.152227 meters
#   Minimum depth: 462.235598 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 437.235598 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793780;
longitude = -122.193095;
captureRadius = 10;
duration = 140;
initialDepth = 437.235598;
finalDepth = 432.169925;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.489514
#   Altitude Set: 26.489514
#   Vehicle Depth:437.235598 
#   Seafloor Depth:-462.235598
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.57;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.87;
MB_Bottom_Detect_Filter_Max_Range = 63.57;
MB_Bottom_Detect_Filter_Min_Depth = 19.87;
MB_Bottom_Detect_Filter_Max_Depth = 34.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.152552 meters
#   Minimum depth: 466.307530 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 441.307530 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793001;
longitude = -122.193767;
captureRadius = 10;
duration = 140;
initialDepth = 441.307530;
finalDepth = 437.235598;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:441.30753 
#   Seafloor Depth:-466.307530
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.152879 meters
#   Minimum depth: 472.261041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 447.261041 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792223;
longitude = -122.194439;
captureRadius = 10;
duration = 140;
initialDepth = 447.261041;
finalDepth = 441.307530;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:447.261041 
#   Seafloor Depth:-472.261041
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 105.153204 meters
#   Minimum depth: 475.375021 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 450.375021 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791444;
longitude = -122.195111;
captureRadius = 10;
duration = 140;
initialDepth = 450.375021;
finalDepth = 447.261041;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.372531
#   Altitude Set: 25.372531
#   Vehicle Depth:450.375021 
#   Seafloor Depth:-475.747552
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.89;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.03;
MB_Bottom_Detect_Filter_Max_Range = 60.89;
MB_Bottom_Detect_Filter_Min_Depth = 19.03;
MB_Bottom_Detect_Filter_Max_Depth = 32.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.612189 meters
#   Minimum depth: 475.553134 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 450.553134 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790665;
longitude = -122.195783;
captureRadius = 10;
duration = 138;
initialDepth = 450.553134;
finalDepth = 450.375021;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.372531
#   Altitude Set: 25.372531
#   Vehicle Depth:450.553134 
#   Seafloor Depth:-475.553134
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.89;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.03;
MB_Bottom_Detect_Filter_Max_Range = 60.89;
MB_Bottom_Detect_Filter_Min_Depth = 19.03;
MB_Bottom_Detect_Filter_Max_Depth = 32.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.853307 meters
#   Minimum depth: 479.322738 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 454.322738 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789898;
longitude = -122.196445;
captureRadius = 10;
duration = 134;
initialDepth = 454.322738;
finalDepth = 450.553134;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.016508
#   Altitude Set: 25.016508
#   Vehicle Depth:454.322738 
#   Seafloor Depth:-479.339246
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.04;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.76;
MB_Bottom_Detect_Filter_Max_Range = 60.04;
MB_Bottom_Detect_Filter_Min_Depth = 18.76;
MB_Bottom_Detect_Filter_Max_Depth = 32.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 85.824149 meters
#   Minimum depth: 483.157042 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 458.157042 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789151;
longitude = -122.197090;
captureRadius = 10;
duration = 114;
initialDepth = 458.157042;
finalDepth = 454.322738;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.941591
#   Altitude Set: 25.941591
#   Vehicle Depth:458.157042 
#   Seafloor Depth:-484.098633
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.26;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.46;
MB_Bottom_Detect_Filter_Max_Range = 62.26;
MB_Bottom_Detect_Filter_Min_Depth = 19.46;
MB_Bottom_Detect_Filter_Max_Depth = 33.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 85.147223 meters
#   Minimum depth: 481.755318 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 456.755318 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.788703;
longitude = -122.196306;
captureRadius = 10;
duration = 113;
initialDepth = 456.755318;
finalDepth = 458.157042;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.863334
#   Altitude Set: 27.863334
#   Vehicle Depth:456.755318 
#   Seafloor Depth:-484.618652
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.87;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.90;
MB_Bottom_Detect_Filter_Max_Range = 66.87;
MB_Bottom_Detect_Filter_Min_Depth = 20.90;
MB_Bottom_Detect_Filter_Max_Depth = 36.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.181577 meters
#   Minimum depth: 476.387104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 451.387104 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789338;
longitude = -122.195769;
captureRadius = 10;
duration = 140;
initialDepth = 451.387104;
finalDepth = 456.755318;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.858949
#   Altitude Set: 31.858949
#   Vehicle Depth:451.387104 
#   Seafloor Depth:-483.246053
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.46;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.89;
MB_Bottom_Detect_Filter_Max_Range = 76.46;
MB_Bottom_Detect_Filter_Min_Depth = 23.89;
MB_Bottom_Detect_Filter_Max_Depth = 41.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.984167 meters
#   Minimum depth: 473.315778 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 448.315778 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790122;
longitude = -122.195107;
captureRadius = 10;
duration = 141;
initialDepth = 448.315778;
finalDepth = 451.387104;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.858949
#   Altitude Set: 31.858949
#   Vehicle Depth:448.315778 
#   Seafloor Depth:-476.343926
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.46;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.89;
MB_Bottom_Detect_Filter_Max_Range = 76.46;
MB_Bottom_Detect_Filter_Min_Depth = 23.89;
MB_Bottom_Detect_Filter_Max_Depth = 41.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 106.672049 meters
#   Minimum depth: 470.843393 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 445.843393 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790912;
longitude = -122.194439;
captureRadius = 10;
duration = 142;
initialDepth = 445.843393;
finalDepth = 448.315778;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.028148
#   Altitude Set: 28.028148
#   Vehicle Depth:445.843393 
#   Seafloor Depth:-473.281253
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.27;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.02;
MB_Bottom_Detect_Filter_Max_Range = 67.27;
MB_Bottom_Detect_Filter_Min_Depth = 21.02;
MB_Bottom_Detect_Filter_Max_Depth = 36.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 106.671722 meters
#   Minimum depth: 466.879842 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 441.879842 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791708;
longitude = -122.193767;
captureRadius = 10;
duration = 142;
initialDepth = 441.879842;
finalDepth = 445.843393;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.791387
#   Altitude Set: 28.791387
#   Vehicle Depth:441.879842 
#   Seafloor Depth:-470.671229
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.10;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.59;
MB_Bottom_Detect_Filter_Max_Range = 69.10;
MB_Bottom_Detect_Filter_Min_Depth = 21.59;
MB_Bottom_Detect_Filter_Max_Depth = 37.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.395183 meters
#   Minimum depth: 462.581997 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 437.581997 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792503;
longitude = -122.193095;
captureRadius = 10;
duration = 135;
initialDepth = 437.581997;
finalDepth = 441.879842;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.289921
#   Altitude Set: 29.289921
#   Vehicle Depth:437.581997 
#   Seafloor Depth:-466.871918
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.30;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.97;
MB_Bottom_Detect_Filter_Max_Range = 70.30;
MB_Bottom_Detect_Filter_Min_Depth = 21.97;
MB_Bottom_Detect_Filter_Max_Depth = 38.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.179984 meters
#   Minimum depth: 458.545295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 433.545295 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793259;
longitude = -122.192456;
captureRadius = 10;
duration = 140;
initialDepth = 433.545295;
finalDepth = 437.581997;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.289921
#   Altitude Set: 29.289921
#   Vehicle Depth:433.545295 
#   Seafloor Depth:-462.176844
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.30;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.97;
MB_Bottom_Detect_Filter_Max_Range = 70.30;
MB_Bottom_Detect_Filter_Min_Depth = 21.97;
MB_Bottom_Detect_Filter_Max_Depth = 38.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.179666 meters
#   Minimum depth: 454.248063 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 429.248063 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794043;
longitude = -122.191793;
captureRadius = 10;
duration = 140;
initialDepth = 429.248063;
finalDepth = 433.545295;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.631549
#   Altitude Set: 28.631549
#   Vehicle Depth:429.248063 
#   Seafloor Depth:-457.785011
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 68.72;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.47;
MB_Bottom_Detect_Filter_Max_Range = 68.72;
MB_Bottom_Detect_Filter_Min_Depth = 21.47;
MB_Bottom_Detect_Filter_Max_Depth = 37.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.179348 meters
#   Minimum depth: 452.755235 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 427.755235 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794827;
longitude = -122.191130;
captureRadius = 10;
duration = 140;
initialDepth = 427.755235;
finalDepth = 429.248063;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.536948
#   Altitude Set: 28.536948
#   Vehicle Depth:427.755235 
#   Seafloor Depth:-454.867106
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 68.49;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.40;
MB_Bottom_Detect_Filter_Max_Range = 68.49;
MB_Bottom_Detect_Filter_Min_Depth = 21.40;
MB_Bottom_Detect_Filter_Max_Depth = 37.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.179030 meters
#   Minimum depth: 451.190354 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 426.190354 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795611;
longitude = -122.190468;
captureRadius = 10;
duration = 140;
initialDepth = 426.190354;
finalDepth = 427.755235;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.186264
#   Altitude Set: 27.186264
#   Vehicle Depth:426.190354 
#   Seafloor Depth:-453.376618
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 65.25;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.39;
MB_Bottom_Detect_Filter_Max_Range = 65.25;
MB_Bottom_Detect_Filter_Min_Depth = 20.39;
MB_Bottom_Detect_Filter_Max_Depth = 35.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.178711 meters
#   Minimum depth: 446.839214 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 421.839214 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796395;
longitude = -122.189805;
captureRadius = 10;
duration = 140;
initialDepth = 421.839214;
finalDepth = 426.190354;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.9707289999999
#   Altitude Set: 31.9707289999999
#   Vehicle Depth:421.839214 
#   Seafloor Depth:-453.809943
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.73;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.98;
MB_Bottom_Detect_Filter_Max_Range = 76.73;
MB_Bottom_Detect_Filter_Min_Depth = 23.98;
MB_Bottom_Detect_Filter_Max_Depth = 41.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.178393 meters
#   Minimum depth: 442.438819 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 417.438819 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797179;
longitude = -122.189142;
captureRadius = 10;
duration = 140;
initialDepth = 417.438819;
finalDepth = 421.839214;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.9707289999999
#   Altitude Set: 31.9707289999999
#   Vehicle Depth:417.438819 
#   Seafloor Depth:-446.578089
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.73;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.98;
MB_Bottom_Detect_Filter_Max_Range = 76.73;
MB_Bottom_Detect_Filter_Min_Depth = 23.98;
MB_Bottom_Detect_Filter_Max_Depth = 41.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.178074 meters
#   Minimum depth: 439.691667 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 414.691667 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797963;
longitude = -122.188480;
captureRadius = 10;
duration = 140;
initialDepth = 414.691667;
finalDepth = 417.438819;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.13927
#   Altitude Set: 29.13927
#   Vehicle Depth:414.691667 
#   Seafloor Depth:-442.793890
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.93;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.85;
MB_Bottom_Detect_Filter_Max_Range = 69.93;
MB_Bottom_Detect_Filter_Min_Depth = 21.85;
MB_Bottom_Detect_Filter_Max_Depth = 37.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.177756 meters
#   Minimum depth: 436.778531 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 411.778531 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798748;
longitude = -122.187817;
captureRadius = 10;
duration = 140;
initialDepth = 411.778531;
finalDepth = 414.691667;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.102223
#   Altitude Set: 28.102223
#   Vehicle Depth:411.778531 
#   Seafloor Depth:-439.530618
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.45;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.08;
MB_Bottom_Detect_Filter_Max_Range = 67.45;
MB_Bottom_Detect_Filter_Min_Depth = 21.08;
MB_Bottom_Detect_Filter_Max_Depth = 36.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.168996 meters
#   Minimum depth: 434.684174 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 409.684174 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799532;
longitude = -122.187154;
captureRadius = 10;
duration = 133;
initialDepth = 409.684174;
finalDepth = 411.778531;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.752087
#   Altitude Set: 27.752087
#   Vehicle Depth:409.684174 
#   Seafloor Depth:-437.226334
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.61;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.81;
MB_Bottom_Detect_Filter_Max_Range = 66.61;
MB_Bottom_Detect_Filter_Min_Depth = 20.81;
MB_Bottom_Detect_Filter_Max_Depth = 36.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 65.060463 meters
#   Minimum depth: 431.802232 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 406.802232 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800278;
longitude = -122.186523;
captureRadius = 10;
duration = 86;
initialDepth = 406.802232;
finalDepth = 409.684174;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.54216
#   Altitude Set: 27.54216
#   Vehicle Depth:406.802232 
#   Seafloor Depth:-433.614705
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.10;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.66;
MB_Bottom_Detect_Filter_Max_Range = 66.10;
MB_Bottom_Detect_Filter_Min_Depth = 20.66;
MB_Bottom_Detect_Filter_Max_Depth = 35.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.097413 meters
#   Minimum depth: 430.596364 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 405.596364 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800764;
longitude = -122.186114;
captureRadius = 10;
duration = 140;
initialDepth = 405.596364;
finalDepth = 406.802232;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.812473
#   Altitude Set: 26.812473
#   Vehicle Depth:405.596364 
#   Seafloor Depth:-431.393866
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.35;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.11;
MB_Bottom_Detect_Filter_Max_Range = 64.35;
MB_Bottom_Detect_Filter_Min_Depth = 20.11;
MB_Bottom_Detect_Filter_Max_Depth = 34.86;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.097097 meters
#   Minimum depth: 430.791280 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 405.791280 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801548;
longitude = -122.185453;
captureRadius = 10;
duration = 140;
initialDepth = 405.791280;
finalDepth = 405.596364;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.797502
#   Altitude Set: 25.797502
#   Vehicle Depth:405.79128 
#   Seafloor Depth:-431.489010
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.91;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.35;
MB_Bottom_Detect_Filter_Max_Range = 61.91;
MB_Bottom_Detect_Filter_Min_Depth = 19.35;
MB_Bottom_Detect_Filter_Max_Depth = 33.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.096779 meters
#   Minimum depth: 426.801368 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 401.801368 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802332;
longitude = -122.184791;
captureRadius = 10;
duration = 140;
initialDepth = 401.801368;
finalDepth = 405.791280;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.133265
#   Altitude Set: 28.133265
#   Vehicle Depth:401.801368 
#   Seafloor Depth:-429.934633
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.52;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.10;
MB_Bottom_Detect_Filter_Max_Range = 67.52;
MB_Bottom_Detect_Filter_Min_Depth = 21.10;
MB_Bottom_Detect_Filter_Max_Depth = 36.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 106.376706 meters
#   Minimum depth: 425.936781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 400.936781 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803116;
longitude = -122.184130;
captureRadius = 10;
duration = 141;
initialDepth = 400.936781;
finalDepth = 401.801368;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.133265
#   Altitude Set: 28.133265
#   Vehicle Depth:400.936781 
#   Seafloor Depth:-428.086369
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.52;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.10;
MB_Bottom_Detect_Filter_Max_Range = 67.52;
MB_Bottom_Detect_Filter_Min_Depth = 21.10;
MB_Bottom_Detect_Filter_Max_Depth = 36.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 106.841923 meters
#   Minimum depth: 426.363302 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 401.363302 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803910;
longitude = -122.183461;
captureRadius = 10;
duration = 142;
initialDepth = 401.363302;
finalDepth = 400.936781;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.149588
#   Altitude Set: 27.149588
#   Vehicle Depth:401.363302 
#   Seafloor Depth:-427.300633
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 65.16;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.36;
MB_Bottom_Detect_Filter_Max_Range = 65.16;
MB_Bottom_Detect_Filter_Min_Depth = 20.36;
MB_Bottom_Detect_Filter_Max_Depth = 35.29;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 106.841594 meters
#   Minimum depth: 424.390456 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 399.390456 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804707;
longitude = -122.182789;
captureRadius = 10;
duration = 142;
initialDepth = 399.390456;
finalDepth = 401.363302;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.201786
#   Altitude Set: 28.201786
#   Vehicle Depth:399.390456 
#   Seafloor Depth:-427.592242
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.68;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.15;
MB_Bottom_Detect_Filter_Max_Range = 67.68;
MB_Bottom_Detect_Filter_Min_Depth = 21.15;
MB_Bottom_Detect_Filter_Max_Depth = 36.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 100.323727 meters
#   Minimum depth: 419.551663 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 394.551663 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805504;
longitude = -122.182117;
captureRadius = 10;
duration = 133;
initialDepth = 394.551663;
finalDepth = 399.390456;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.500254
#   Altitude Set: 29.500254
#   Vehicle Depth:394.551663 
#   Seafloor Depth:-424.051917
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.80;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.13;
MB_Bottom_Detect_Filter_Max_Range = 70.80;
MB_Bottom_Detect_Filter_Min_Depth = 22.13;
MB_Bottom_Detect_Filter_Max_Depth = 38.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.095195 meters
#   Minimum depth: 415.890274 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 390.890274 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806253;
longitude = -122.181486;
captureRadius = 10;
duration = 140;
initialDepth = 390.890274;
finalDepth = 394.551663;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.500254
#   Altitude Set: 29.500254
#   Vehicle Depth:390.890274 
#   Seafloor Depth:-419.372685
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.80;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.13;
MB_Bottom_Detect_Filter_Max_Range = 70.80;
MB_Bottom_Detect_Filter_Min_Depth = 22.13;
MB_Bottom_Detect_Filter_Max_Depth = 38.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.094878 meters
#   Minimum depth: 407.287358 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 382.287358 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807037;
longitude = -122.180825;
captureRadius = 10;
duration = 140;
initialDepth = 382.287358;
finalDepth = 390.890274;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 33.199419
#   Altitude Set: 33.199419
#   Vehicle Depth:382.287358 
#   Seafloor Depth:-415.486777
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 79.68;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 24.90;
MB_Bottom_Detect_Filter_Max_Range = 79.68;
MB_Bottom_Detect_Filter_Min_Depth = 24.90;
MB_Bottom_Detect_Filter_Max_Depth = 43.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.094561 meters
#   Minimum depth: 399.068216 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 374.068216 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807821;
longitude = -122.180164;
captureRadius = 10;
duration = 140;
initialDepth = 374.068216;
finalDepth = 382.287358;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 33.199419
#   Altitude Set: 33.199419
#   Vehicle Depth:374.068216 
#   Seafloor Depth:-405.599129
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 79.68;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 24.90;
MB_Bottom_Detect_Filter_Max_Range = 79.68;
MB_Bottom_Detect_Filter_Min_Depth = 24.90;
MB_Bottom_Detect_Filter_Max_Depth = 43.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.094244 meters
#   Minimum depth: 391.566486 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 366.566486 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808605;
longitude = -122.179503;
captureRadius = 10;
duration = 140;
initialDepth = 366.566486;
finalDepth = 374.068216;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.945177
#   Altitude Set: 31.945177
#   Vehicle Depth:366.566486 
#   Seafloor Depth:-398.511663
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.67;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.96;
MB_Bottom_Detect_Filter_Max_Range = 76.67;
MB_Bottom_Detect_Filter_Min_Depth = 23.96;
MB_Bottom_Detect_Filter_Max_Depth = 41.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.093928 meters
#   Minimum depth: 387.459408 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 362.459408 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809389;
longitude = -122.178841;
captureRadius = 10;
duration = 140;
initialDepth = 362.459408;
finalDepth = 366.566486;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.945177
#   Altitude Set: 31.945177
#   Vehicle Depth:362.459408 
#   Seafloor Depth:-391.908189
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.67;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.96;
MB_Bottom_Detect_Filter_Max_Range = 76.67;
MB_Bottom_Detect_Filter_Min_Depth = 23.96;
MB_Bottom_Detect_Filter_Max_Depth = 41.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.093610 meters
#   Minimum depth: 380.605732 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 355.605732 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.810173;
longitude = -122.178180;
captureRadius = 10;
duration = 140;
initialDepth = 355.605732;
finalDepth = 362.459408;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.751332
#   Altitude Set: 31.751332
#   Vehicle Depth:355.605732 
#   Seafloor Depth:-387.357064
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.20;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.81;
MB_Bottom_Detect_Filter_Max_Range = 76.20;
MB_Bottom_Detect_Filter_Min_Depth = 23.81;
MB_Bottom_Detect_Filter_Max_Depth = 41.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 100.088859 meters
#   Minimum depth: 379.046633 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 354.046633 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.810957;
longitude = -122.177519;
captureRadius = 10;
duration = 133;
initialDepth = 354.046633;
finalDepth = 355.605732;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.751332
#   Altitude Set: 31.751332
#   Vehicle Depth:354.046633 
#   Seafloor Depth:-380.498582
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.20;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.81;
MB_Bottom_Detect_Filter_Max_Range = 76.20;
MB_Bottom_Detect_Filter_Min_Depth = 23.81;
MB_Bottom_Detect_Filter_Max_Depth = 41.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 5.737633 meters
#   Minimum depth: 379.001302 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 354.001302 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.811704;
longitude = -122.176890;
captureRadius = 10;
duration = 7;
initialDepth = 354.001302;
finalDepth = 354.046633;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.451949
#   Altitude Set: 26.451949
#   Vehicle Depth:354.001302 
#   Seafloor Depth:-379.001302
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.48;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.84;
MB_Bottom_Detect_Filter_Max_Range = 63.48;
MB_Bottom_Detect_Filter_Min_Depth = 19.84;
MB_Bottom_Detect_Filter_Max_Depth = 34.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.158073 meters
#   Minimum depth: 374.723447 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 349.723447 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.811741;
longitude = -122.176845;
captureRadius = 10;
duration = 133;
initialDepth = 349.723447;
finalDepth = 354.001302;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.326843
#   Altitude Set: 29.326843
#   Vehicle Depth:349.723447 
#   Seafloor Depth:-379.050290
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.00;
MB_Bottom_Detect_Filter_Max_Range = 70.38;
MB_Bottom_Detect_Filter_Min_Depth = 22.00;
MB_Bottom_Detect_Filter_Max_Depth = 38.12;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.081860 meters
#   Minimum depth: 371.252556 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 346.252556 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.812393;
longitude = -122.176068;
captureRadius = 10;
duration = 134;
initialDepth = 346.252556;
finalDepth = 349.723447;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.326843
#   Altitude Set: 29.326843
#   Vehicle Depth:346.252556 
#   Seafloor Depth:-374.526570
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.00;
MB_Bottom_Detect_Filter_Max_Range = 70.38;
MB_Bottom_Detect_Filter_Min_Depth = 22.00;
MB_Bottom_Detect_Filter_Max_Depth = 38.12;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.081465 meters
#   Minimum depth: 369.912219 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 344.912219 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.813051;
longitude = -122.175284;
captureRadius = 10;
duration = 134;
initialDepth = 344.912219;
finalDepth = 346.252556;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.274014
#   Altitude Set: 28.274014
#   Vehicle Depth:344.912219 
#   Seafloor Depth:-371.194113
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.86;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.21;
MB_Bottom_Detect_Filter_Max_Range = 67.86;
MB_Bottom_Detect_Filter_Min_Depth = 21.21;
MB_Bottom_Detect_Filter_Max_Depth = 36.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.081070 meters
#   Minimum depth: 366.760817 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 341.760817 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.813709;
longitude = -122.174500;
captureRadius = 10;
duration = 134;
initialDepth = 341.760817;
finalDepth = 344.912219;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.655893
#   Altitude Set: 27.655893
#   Vehicle Depth:341.760817 
#   Seafloor Depth:-369.416710
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.37;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.74;
MB_Bottom_Detect_Filter_Max_Range = 66.37;
MB_Bottom_Detect_Filter_Min_Depth = 20.74;
MB_Bottom_Detect_Filter_Max_Depth = 35.95;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.080673 meters
#   Minimum depth: 363.827436 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 338.827436 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.814367;
longitude = -122.173716;
captureRadius = 10;
duration = 134;
initialDepth = 338.827436;
finalDepth = 341.760817;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.756046
#   Altitude Set: 27.756046
#   Vehicle Depth:338.827436 
#   Seafloor Depth:-366.583482
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.61;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.82;
MB_Bottom_Detect_Filter_Max_Range = 66.61;
MB_Bottom_Detect_Filter_Min_Depth = 20.82;
MB_Bottom_Detect_Filter_Max_Depth = 36.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.080279 meters
#   Minimum depth: 361.417526 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 336.417526 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.815025;
longitude = -122.172932;
captureRadius = 10;
duration = 134;
initialDepth = 336.417526;
finalDepth = 338.827436;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.103368
#   Altitude Set: 28.103368
#   Vehicle Depth:336.417526 
#   Seafloor Depth:-364.520894
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.45;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.08;
MB_Bottom_Detect_Filter_Max_Range = 67.45;
MB_Bottom_Detect_Filter_Min_Depth = 21.08;
MB_Bottom_Detect_Filter_Max_Depth = 36.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 105.893200 meters
#   Minimum depth: 360.459481 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 335.459481 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.815682;
longitude = -122.172148;
captureRadius = 10;
duration = 141;
initialDepth = 335.459481;
finalDepth = 336.417526;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.103368
#   Altitude Set: 28.103368
#   Vehicle Depth:335.459481 
#   Seafloor Depth:-361.403277
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 67.45;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.08;
MB_Bottom_Detect_Filter_Max_Range = 67.45;
MB_Bottom_Detect_Filter_Min_Depth = 21.08;
MB_Bottom_Detect_Filter_Max_Depth = 36.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 34.059408 meters
#   Minimum depth: 360.336974 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 335.336974 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816371;
longitude = -122.171326;
captureRadius = 10;
duration = 45;
initialDepth = 335.336974;
finalDepth = 335.459481;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.976014
#   Altitude Set: 25.976014
#   Vehicle Depth:335.336974 
#   Seafloor Depth:-361.312988
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.34;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.48;
MB_Bottom_Detect_Filter_Max_Range = 62.34;
MB_Bottom_Detect_Filter_Min_Depth = 19.48;
MB_Bottom_Detect_Filter_Max_Depth = 33.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.178195 meters
#   Minimum depth: 358.191414 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 333.191414 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816670;
longitude = -122.171238;
captureRadius = 10;
duration = 136;
initialDepth = 333.191414;
finalDepth = 335.336974;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.879287
#   Altitude Set: 26.879287
#   Vehicle Depth:333.191414 
#   Seafloor Depth:-360.070701
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.51;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.16;
MB_Bottom_Detect_Filter_Max_Range = 64.51;
MB_Bottom_Detect_Filter_Min_Depth = 20.16;
MB_Bottom_Detect_Filter_Max_Depth = 34.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.178149 meters
#   Minimum depth: 354.406739 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 329.406739 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.817566;
longitude = -122.170973;
captureRadius = 10;
duration = 136;
initialDepth = 329.406739;
finalDepth = 333.191414;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.600563
#   Altitude Set: 28.600563
#   Vehicle Depth:329.406739 
#   Seafloor Depth:-358.007302
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 68.64;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.45;
MB_Bottom_Detect_Filter_Max_Range = 68.64;
MB_Bottom_Detect_Filter_Min_Depth = 21.45;
MB_Bottom_Detect_Filter_Max_Depth = 37.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.178105 meters
#   Minimum depth: 348.736577 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 323.736577 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.818462;
longitude = -122.170709;
captureRadius = 10;
duration = 136;
initialDepth = 323.736577;
finalDepth = 329.406739;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.676662
#   Altitude Set: 30.676662
#   Vehicle Depth:323.736577 
#   Seafloor Depth:-354.413239
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 73.62;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.01;
MB_Bottom_Detect_Filter_Max_Range = 73.62;
MB_Bottom_Detect_Filter_Min_Depth = 23.01;
MB_Bottom_Detect_Filter_Max_Depth = 39.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.178060 meters
#   Minimum depth: 343.796437 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 318.796437 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.819359;
longitude = -122.170444;
captureRadius = 10;
duration = 136;
initialDepth = 318.796437;
finalDepth = 323.736577;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.676662
#   Altitude Set: 30.676662
#   Vehicle Depth:318.796437 
#   Seafloor Depth:-347.379403
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 73.62;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.01;
MB_Bottom_Detect_Filter_Max_Range = 73.62;
MB_Bottom_Detect_Filter_Min_Depth = 23.01;
MB_Bottom_Detect_Filter_Max_Depth = 39.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.178015 meters
#   Minimum depth: 340.303618 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 315.303618 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.820255;
longitude = -122.170179;
captureRadius = 10;
duration = 136;
initialDepth = 315.303618;
finalDepth = 318.796437;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 28.582966
#   Altitude Set: 28.582966
#   Vehicle Depth:315.303618 
#   Seafloor Depth:-343.424343
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 68.60;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.44;
MB_Bottom_Detect_Filter_Max_Range = 68.60;
MB_Bottom_Detect_Filter_Min_Depth = 21.44;
MB_Bottom_Detect_Filter_Max_Depth = 37.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.177971 meters
#   Minimum depth: 332.067810 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 307.067810 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821151;
longitude = -122.169915;
captureRadius = 10;
duration = 136;
initialDepth = 307.067810;
finalDepth = 315.303618;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.961707
#   Altitude Set: 31.961707
#   Vehicle Depth:307.06781 
#   Seafloor Depth:-339.029517
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.71;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.97;
MB_Bottom_Detect_Filter_Max_Range = 76.71;
MB_Bottom_Detect_Filter_Min_Depth = 23.97;
MB_Bottom_Detect_Filter_Max_Depth = 41.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.177926 meters
#   Minimum depth: 329.332286 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 304.332286 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822047;
longitude = -122.169650;
captureRadius = 10;
duration = 136;
initialDepth = 304.332286;
finalDepth = 307.067810;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.961707
#   Altitude Set: 31.961707
#   Vehicle Depth:304.332286 
#   Seafloor Depth:-333.435300
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.71;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.97;
MB_Bottom_Detect_Filter_Max_Range = 76.71;
MB_Bottom_Detect_Filter_Min_Depth = 23.97;
MB_Bottom_Detect_Filter_Max_Depth = 41.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.177881 meters
#   Minimum depth: 323.100700 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 298.100700 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822943;
longitude = -122.169385;
captureRadius = 10;
duration = 136;
initialDepth = 298.100700;
finalDepth = 304.332286;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.433114
#   Altitude Set: 30.433114
#   Vehicle Depth:298.1007 
#   Seafloor Depth:-328.533814
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 73.04;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.82;
MB_Bottom_Detect_Filter_Max_Range = 73.04;
MB_Bottom_Detect_Filter_Min_Depth = 22.82;
MB_Bottom_Detect_Filter_Max_Depth = 39.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.177836 meters
#   Minimum depth: 322.611581 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 297.611581 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.823839;
longitude = -122.169121;
captureRadius = 10;
duration = 136;
initialDepth = 297.611581;
finalDepth = 298.100700;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.433114
#   Altitude Set: 30.433114
#   Vehicle Depth:297.611581 
#   Seafloor Depth:-323.482693
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 73.04;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.82;
MB_Bottom_Detect_Filter_Max_Range = 73.04;
MB_Bottom_Detect_Filter_Min_Depth = 22.82;
MB_Bottom_Detect_Filter_Max_Depth = 39.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.177792 meters
#   Minimum depth: 316.535288 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 291.535288 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.824735;
longitude = -122.168856;
captureRadius = 10;
duration = 136;
initialDepth = 291.535288;
finalDepth = 297.611581;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.302002
#   Altitude Set: 30.302002
#   Vehicle Depth:291.535288 
#   Seafloor Depth:-321.837290
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 72.72;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.73;
MB_Bottom_Detect_Filter_Max_Range = 72.72;
MB_Bottom_Detect_Filter_Min_Depth = 22.73;
MB_Bottom_Detect_Filter_Max_Depth = 39.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.177747 meters
#   Minimum depth: 312.952343 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 287.952343 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.825632;
longitude = -122.168592;
captureRadius = 10;
duration = 136;
initialDepth = 287.952343;
finalDepth = 291.535288;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.302002
#   Altitude Set: 30.302002
#   Vehicle Depth:287.952343 
#   Seafloor Depth:-316.046473
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 72.72;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.73;
MB_Bottom_Detect_Filter_Max_Range = 72.72;
MB_Bottom_Detect_Filter_Min_Depth = 22.73;
MB_Bottom_Detect_Filter_Max_Depth = 39.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.692509 meters
#   Minimum depth: 308.571363 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 283.571363 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.826528;
longitude = -122.168327;
captureRadius = 10;
duration = 147;
initialDepth = 283.571363;
finalDepth = 287.952343;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.061574
#   Altitude Set: 29.061574
#   Vehicle Depth:283.571363 
#   Seafloor Depth:-312.632937
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.75;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.80;
MB_Bottom_Detect_Filter_Max_Range = 69.75;
MB_Bottom_Detect_Filter_Min_Depth = 21.80;
MB_Bottom_Detect_Filter_Max_Depth = 37.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 70.523307 meters
#   Minimum depth: 308.340617 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 283.340617 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.827498;
longitude = -122.168040;
captureRadius = 10;
duration = 94;
initialDepth = 283.340617;
finalDepth = 283.571363;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.061574
#   Altitude Set: 29.061574
#   Vehicle Depth:283.340617 
#   Seafloor Depth:-308.340617
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 69.75;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.80;
MB_Bottom_Detect_Filter_Max_Range = 69.75;
MB_Bottom_Detect_Filter_Min_Depth = 21.80;
MB_Bottom_Detect_Filter_Max_Depth = 37.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 104.813516 meters
#   Minimum depth: 311.262962 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 286.262962 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.827984;
longitude = -122.167530;
captureRadius = 10;
duration = 139;
initialDepth = 286.262962;
finalDepth = 283.340617;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25
#   Altitude Set: 25
#   Vehicle Depth:286.262962 
#   Seafloor Depth:-311.262962
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 108.295728 meters
#   Minimum depth: 317.246911 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 292.246911 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.828705;
longitude = -122.166771;
captureRadius = 10;
duration = 144;
initialDepth = 292.246911;
finalDepth = 286.262962;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.071356
#   Altitude Set: 25.071356
#   Vehicle Depth:292.246911 
#   Seafloor Depth:-317.318267
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.17;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.80;
MB_Bottom_Detect_Filter_Max_Range = 60.17;
MB_Bottom_Detect_Filter_Min_Depth = 18.80;
MB_Bottom_Detect_Filter_Max_Depth = 32.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 112.380655 meters
#   Minimum depth: 313.682812 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 288.682812 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.829451;
longitude = -122.165987;
captureRadius = 10;
duration = 149;
initialDepth = 288.682812;
finalDepth = 292.246911;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.291986
#   Altitude Set: 31.291986
#   Vehicle Depth:288.682812 
#   Seafloor Depth:-319.974798
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 75.10;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.47;
MB_Bottom_Detect_Filter_Max_Range = 75.10;
MB_Bottom_Detect_Filter_Min_Depth = 23.47;
MB_Bottom_Detect_Filter_Max_Depth = 40.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 104.209552 meters
#   Minimum depth: 302.510686 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 277.510686 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.830224;
longitude = -122.165173;
captureRadius = 10;
duration = 138;
initialDepth = 277.510686;
finalDepth = 288.682812;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 36.159298
#   Altitude Set: 36.159298
#   Vehicle Depth:277.510686 
#   Seafloor Depth:-313.669984
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 86.78;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 27.12;
MB_Bottom_Detect_Filter_Max_Range = 86.78;
MB_Bottom_Detect_Filter_Min_Depth = 27.12;
MB_Bottom_Detect_Filter_Max_Depth = 47.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 108.294479 meters
#   Minimum depth: 285.537888 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 260.537888 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.830941;
longitude = -122.164418;
captureRadius = 10;
duration = 144;
initialDepth = 260.537888;
finalDepth = 277.510686;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 41.148884
#   Altitude Set: 41.148884
#   Vehicle Depth:260.537888 
#   Seafloor Depth:-301.686772
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 98.76;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.86;
MB_Bottom_Detect_Filter_Max_Range = 98.76;
MB_Bottom_Detect_Filter_Min_Depth = 30.86;
MB_Bottom_Detect_Filter_Max_Depth = 53.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 112.982107 meters
#   Minimum depth: 276.092069 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 251.092069 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.831687;
longitude = -122.163634;
captureRadius = 10;
duration = 150;
initialDepth = 251.092069;
finalDepth = 260.537888;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 41.148884
#   Altitude Set: 41.148884
#   Vehicle Depth:251.092069 
#   Seafloor Depth:-285.501032
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 98.76;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.86;
MB_Bottom_Detect_Filter_Max_Range = 98.76;
MB_Bottom_Detect_Filter_Min_Depth = 30.86;
MB_Bottom_Detect_Filter_Max_Depth = 53.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 103.605601 meters
#   Minimum depth: 263.053350 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 238.053350 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.832465;
longitude = -122.162816;
captureRadius = 10;
duration = 138;
initialDepth = 238.053350;
finalDepth = 251.092069;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 37.348407
#   Altitude Set: 37.348407
#   Vehicle Depth:238.05335 
#   Seafloor Depth:-275.401757
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 89.64;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 28.01;
MB_Bottom_Detect_Filter_Max_Range = 89.64;
MB_Bottom_Detect_Filter_Min_Depth = 28.01;
MB_Bottom_Detect_Filter_Max_Depth = 48.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 108.293230 meters
#   Minimum depth: 243.831554 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 218.831554 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.833178;
longitude = -122.162066;
captureRadius = 10;
duration = 144;
initialDepth = 218.831554;
finalDepth = 238.053350;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 43.330299
#   Altitude Set: 43.330299
#   Vehicle Depth:218.831554 
#   Seafloor Depth:-262.161853
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 103.99;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 32.50;
MB_Bottom_Detect_Filter_Max_Range = 103.99;
MB_Bottom_Detect_Filter_Min_Depth = 32.50;
MB_Bottom_Detect_Filter_Max_Depth = 56.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 113.583546 meters
#   Minimum depth: 219.789581 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 194.789581 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.833923;
longitude = -122.161282;
captureRadius = 10;
duration = 151;
initialDepth = 194.789581;
finalDepth = 218.831554;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 48.995419
#   Altitude Set: 48.995419
#   Vehicle Depth:194.789581 
#   Seafloor Depth:-243.785000
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 117.59;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 36.75;
MB_Bottom_Detect_Filter_Max_Range = 117.59;
MB_Bottom_Detect_Filter_Min_Depth = 36.75;
MB_Bottom_Detect_Filter_Max_Depth = 63.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 103.001665 meters
#   Minimum depth: 201.876012 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 176.876012 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.834705;
longitude = -122.160459;
captureRadius = 10;
duration = 137;
initialDepth = 176.876012;
finalDepth = 194.789581;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 48.995419
#   Altitude Set: 48.995419
#   Vehicle Depth:176.876012 
#   Seafloor Depth:-219.000924
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 117.59;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 36.75;
MB_Bottom_Detect_Filter_Max_Range = 117.59;
MB_Bottom_Detect_Filter_Min_Depth = 36.75;
MB_Bottom_Detect_Filter_Max_Depth = 63.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 103.135229 meters
#   Minimum depth: 181.878496 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 156.878496 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.835414;
longitude = -122.159714;
captureRadius = 10;
duration = 137;
initialDepth = 156.878496;
finalDepth = 176.876012;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 43.953885
#   Altitude Set: 43.953885
#   Vehicle Depth:156.878496 
#   Seafloor Depth:-200.832381
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 105.49;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 32.97;
MB_Bottom_Detect_Filter_Max_Range = 105.49;
MB_Bottom_Detect_Filter_Min_Depth = 32.97;
MB_Bottom_Detect_Filter_Max_Depth = 57.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 88.426619 meters
#   Minimum depth: 168.144929 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 143.144929 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836124;
longitude = -122.158967;
captureRadius = 10;
duration = 117;
initialDepth = 143.144929;
finalDepth = 156.878496;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 43.953885
#   Altitude Set: 43.953885
#   Vehicle Depth:143.144929 
#   Seafloor Depth:-181.102356
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 105.49;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 32.97;
MB_Bottom_Detect_Filter_Max_Range = 105.49;
MB_Bottom_Detect_Filter_Min_Depth = 32.97;
MB_Bottom_Detect_Filter_Max_Depth = 57.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 107.984152 meters
#   Minimum depth: 153.803022 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 128.803022 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836393;
longitude = -122.158033;
captureRadius = 10;
duration = 143;
initialDepth = 128.803022;
finalDepth = 143.144929;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 38.978336
#   Altitude Set: 38.978336
#   Vehicle Depth:128.803022 
#   Seafloor Depth:-167.781358
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 93.55;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 29.23;
MB_Bottom_Detect_Filter_Max_Range = 93.55;
MB_Bottom_Detect_Filter_Min_Depth = 29.23;
MB_Bottom_Detect_Filter_Max_Depth = 50.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 104.238670 meters
#   Minimum depth: 146.883307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 121.883307 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.836721;
longitude = -122.156893;
captureRadius = 10;
duration = 138;
initialDepth = 121.883307;
finalDepth = 128.803022;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 38.978336
#   Altitude Set: 38.978336
#   Vehicle Depth:121.883307 
#   Seafloor Depth:-153.554571
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 93.55;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 29.23;
MB_Bottom_Detect_Filter_Max_Range = 93.55;
MB_Bottom_Detect_Filter_Min_Depth = 29.23;
MB_Bottom_Detect_Filter_Max_Depth = 50.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 106.110848 meters
#   Minimum depth: 140.419481 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 115.419481 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.837038;
longitude = -122.155793;
captureRadius = 10;
duration = 141;
initialDepth = 115.419481;
finalDepth = 121.883307;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 31.671264
#   Altitude Set: 31.671264
#   Vehicle Depth:115.419481 
#   Seafloor Depth:-146.057073
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 76.01;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 23.75;
MB_Bottom_Detect_Filter_Max_Range = 76.01;
MB_Bottom_Detect_Filter_Min_Depth = 23.75;
MB_Bottom_Detect_Filter_Max_Depth = 41.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 106.110474 meters
#   Minimum depth: 136.268851 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 111.268851 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.837361;
longitude = -122.154673;
captureRadius = 10;
duration = 141;
initialDepth = 111.268851;
finalDepth = 115.419481;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.637592
#   Altitude Set: 30.637592
#   Vehicle Depth:111.268851 
#   Seafloor Depth:-140.407401
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 73.53;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.98;
MB_Bottom_Detect_Filter_Max_Range = 73.53;
MB_Bottom_Detect_Filter_Min_Depth = 22.98;
MB_Bottom_Detect_Filter_Max_Depth = 39.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 106.110100 meters
#   Minimum depth: 131.370805 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 106.370805 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.837684;
longitude = -122.153553;
captureRadius = 10;
duration = 141;
initialDepth = 106.370805;
finalDepth = 111.268851;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.308862
#   Altitude Set: 29.308862
#   Vehicle Depth:106.370805 
#   Seafloor Depth:-135.679667
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.34;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.98;
MB_Bottom_Detect_Filter_Max_Range = 70.34;
MB_Bottom_Detect_Filter_Min_Depth = 21.98;
MB_Bottom_Detect_Filter_Max_Depth = 38.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 106.109724 meters
#   Minimum depth: 128.389062 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 103.389062 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.838007;
longitude = -122.152433;
captureRadius = 10;
duration = 141;
initialDepth = 103.389062;
finalDepth = 106.370805;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.308862
#   Altitude Set: 29.308862
#   Vehicle Depth:103.389062 
#   Seafloor Depth:-130.617201
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.34;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 21.98;
MB_Bottom_Detect_Filter_Max_Range = 70.34;
MB_Bottom_Detect_Filter_Min_Depth = 21.98;
MB_Bottom_Detect_Filter_Max_Depth = 38.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.646322 meters
#   Minimum depth: 124.380622 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 99.380622 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.838329;
longitude = -122.151312;
captureRadius = 10;
duration = 146;
initialDepth = 99.380622;
finalDepth = 103.389062;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.565565
#   Altitude Set: 29.565565
#   Vehicle Depth:99.380622 
#   Seafloor Depth:-128.946187
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.96;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.17;
MB_Bottom_Detect_Filter_Max_Range = 70.96;
MB_Bottom_Detect_Filter_Min_Depth = 22.17;
MB_Bottom_Detect_Filter_Max_Depth = 38.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 42.198890 meters
#   Minimum depth: 123.677091 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 98.677091 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.838663;
longitude = -122.150155;
captureRadius = 10;
duration = 56;
initialDepth = 98.677091;
finalDepth = 99.380622;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 29.565565
#   Altitude Set: 29.565565
#   Vehicle Depth:98.677091 
#   Seafloor Depth:-124.517812
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 70.96;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 22.17;
MB_Bottom_Detect_Filter_Max_Range = 70.96;
MB_Bottom_Detect_Filter_Min_Depth = 22.17;
MB_Bottom_Detect_Filter_Max_Depth = 38.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.277031 meters
#   Minimum depth: 122.075849 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 97.075849 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.838849;
longitude = -122.149743;
captureRadius = 10;
duration = 135;
initialDepth = 97.075849;
finalDepth = 98.677091;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.59722
#   Altitude Set: 26.59722
#   Vehicle Depth:97.075849 
#   Seafloor Depth:-123.673069
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.83;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.95;
MB_Bottom_Detect_Filter_Max_Range = 63.83;
MB_Bottom_Detect_Filter_Min_Depth = 19.95;
MB_Bottom_Detect_Filter_Max_Depth = 34.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.276602 meters
#   Minimum depth: 119.524520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 94.524520 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.839298;
longitude = -122.148753;
captureRadius = 10;
duration = 135;
initialDepth = 94.524520;
finalDepth = 97.075849;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.876407
#   Altitude Set: 27.876407
#   Vehicle Depth:94.52452 
#   Seafloor Depth:-122.400927
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.90;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.91;
MB_Bottom_Detect_Filter_Max_Range = 66.90;
MB_Bottom_Detect_Filter_Min_Depth = 20.91;
MB_Bottom_Detect_Filter_Max_Depth = 36.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.276171 meters
#   Minimum depth: 118.160010 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 93.160010 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.839746;
longitude = -122.147763;
captureRadius = 10;
duration = 135;
initialDepth = 93.160010;
finalDepth = 94.524520;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.876407
#   Altitude Set: 27.876407
#   Vehicle Depth:93.16001 
#   Seafloor Depth:-119.069207
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.90;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.91;
MB_Bottom_Detect_Filter_Max_Range = 66.90;
MB_Bottom_Detect_Filter_Min_Depth = 20.91;
MB_Bottom_Detect_Filter_Max_Depth = 36.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.275742 meters
#   Minimum depth: 116.212576 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 91.212576 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.840194;
longitude = -122.146774;
captureRadius = 10;
duration = 135;
initialDepth = 91.212576;
finalDepth = 93.160010;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.482448
#   Altitude Set: 26.482448
#   Vehicle Depth:91.212576 
#   Seafloor Depth:-117.695024
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.56;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.86;
MB_Bottom_Detect_Filter_Max_Range = 63.56;
MB_Bottom_Detect_Filter_Min_Depth = 19.86;
MB_Bottom_Detect_Filter_Max_Depth = 34.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.275311 meters
#   Minimum depth: 115.833194 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 90.833194 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.840642;
longitude = -122.145784;
captureRadius = 10;
duration = 135;
initialDepth = 90.833194;
finalDepth = 91.212576;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.482448
#   Altitude Set: 26.482448
#   Vehicle Depth:90.833194 
#   Seafloor Depth:-116.321970
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 63.56;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.86;
MB_Bottom_Detect_Filter_Max_Range = 63.56;
MB_Bottom_Detect_Filter_Min_Depth = 19.86;
MB_Bottom_Detect_Filter_Max_Depth = 34.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.274882 meters
#   Minimum depth: 115.472558 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 90.472558 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.841090;
longitude = -122.144795;
captureRadius = 10;
duration = 135;
initialDepth = 90.472558;
finalDepth = 90.833194;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.679881
#   Altitude Set: 25.679881
#   Vehicle Depth:90.472558 
#   Seafloor Depth:-116.152439
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.63;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.26;
MB_Bottom_Detect_Filter_Max_Range = 61.63;
MB_Bottom_Detect_Filter_Min_Depth = 19.26;
MB_Bottom_Detect_Filter_Max_Depth = 33.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.274452 meters
#   Minimum depth: 114.712913 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 89.712913 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.841538;
longitude = -122.143805;
captureRadius = 10;
duration = 135;
initialDepth = 89.712913;
finalDepth = 90.472558;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.867625
#   Altitude Set: 25.867625
#   Vehicle Depth:89.712913 
#   Seafloor Depth:-115.580538
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.08;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.40;
MB_Bottom_Detect_Filter_Max_Range = 62.08;
MB_Bottom_Detect_Filter_Min_Depth = 19.40;
MB_Bottom_Detect_Filter_Max_Depth = 33.63;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.274021 meters
#   Minimum depth: 111.738977 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 86.738977 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.841986;
longitude = -122.142816;
captureRadius = 10;
duration = 135;
initialDepth = 86.738977;
finalDepth = 89.712913;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.904521
#   Altitude Set: 27.904521
#   Vehicle Depth:86.738977 
#   Seafloor Depth:-114.643498
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.97;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.93;
MB_Bottom_Detect_Filter_Max_Range = 66.97;
MB_Bottom_Detect_Filter_Min_Depth = 20.93;
MB_Bottom_Detect_Filter_Max_Depth = 36.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.273592 meters
#   Minimum depth: 111.304492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 86.304492 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.842434;
longitude = -122.141826;
captureRadius = 10;
duration = 135;
initialDepth = 86.304492;
finalDepth = 86.738977;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 27.904521
#   Altitude Set: 27.904521
#   Vehicle Depth:86.304492 
#   Seafloor Depth:-111.826090
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 66.97;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.93;
MB_Bottom_Detect_Filter_Max_Range = 66.97;
MB_Bottom_Detect_Filter_Min_Depth = 20.93;
MB_Bottom_Detect_Filter_Max_Depth = 36.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.273162 meters
#   Minimum depth: 111.374444 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 86.374444 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.842882;
longitude = -122.140836;
captureRadius = 10;
duration = 135;
initialDepth = 86.374444;
finalDepth = 86.304492;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.521598
#   Altitude Set: 25.521598
#   Vehicle Depth:86.374444 
#   Seafloor Depth:-111.595890
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.25;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.14;
MB_Bottom_Detect_Filter_Max_Range = 61.25;
MB_Bottom_Detect_Filter_Min_Depth = 19.14;
MB_Bottom_Detect_Filter_Max_Depth = 33.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.272732 meters
#   Minimum depth: 111.230940 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 86.230940 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.843330;
longitude = -122.139847;
captureRadius = 10;
duration = 135;
initialDepth = 86.230940;
finalDepth = 86.374444;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.338873
#   Altitude Set: 25.338873
#   Vehicle Depth:86.23094 
#   Seafloor Depth:-111.569813
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.81;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.00;
MB_Bottom_Detect_Filter_Max_Range = 60.81;
MB_Bottom_Detect_Filter_Min_Depth = 19.00;
MB_Bottom_Detect_Filter_Max_Depth = 32.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.272303 meters
#   Minimum depth: 109.689988 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 84.689988 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.843778;
longitude = -122.138857;
captureRadius = 10;
duration = 135;
initialDepth = 84.689988;
finalDepth = 86.230940;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.685235
#   Altitude Set: 26.685235
#   Vehicle Depth:84.689988 
#   Seafloor Depth:-111.375223
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.04;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.01;
MB_Bottom_Detect_Filter_Max_Range = 64.04;
MB_Bottom_Detect_Filter_Min_Depth = 20.01;
MB_Bottom_Detect_Filter_Max_Depth = 34.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 102.901781 meters
#   Minimum depth: 109.127284 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 84.127284 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.844226;
longitude = -122.137868;
captureRadius = 10;
duration = 137;
initialDepth = 84.127284;
finalDepth = 84.689988;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.685235
#   Altitude Set: 26.685235
#   Vehicle Depth:84.127284 
#   Seafloor Depth:-109.695964
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.04;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.01;
MB_Bottom_Detect_Filter_Max_Range = 64.04;
MB_Bottom_Detect_Filter_Min_Depth = 20.01;
MB_Bottom_Detect_Filter_Max_Depth = 34.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.172987 meters
#   Minimum depth: 108.939382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 83.939382 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.844682;
longitude = -122.136862;
captureRadius = 10;
duration = 137;
initialDepth = 83.939382;
finalDepth = 84.127284;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.56868
#   Altitude Set: 25.56868
#   Vehicle Depth:83.939382 
#   Seafloor Depth:-109.315814
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.36;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.18;
MB_Bottom_Detect_Filter_Max_Range = 61.36;
MB_Bottom_Detect_Filter_Min_Depth = 19.18;
MB_Bottom_Detect_Filter_Max_Depth = 33.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.172542 meters
#   Minimum depth: 108.132787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 83.132787 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.845138;
longitude = -122.135854;
captureRadius = 10;
duration = 137;
initialDepth = 83.132787;
finalDepth = 83.939382;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 25.740804
#   Altitude Set: 25.740804
#   Vehicle Depth:83.132787 
#   Seafloor Depth:-108.873591
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.78;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.31;
MB_Bottom_Detect_Filter_Max_Range = 61.78;
MB_Bottom_Detect_Filter_Min_Depth = 19.31;
MB_Bottom_Detect_Filter_Max_Depth = 33.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.172095 meters
#   Minimum depth: 106.307873 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 81.307873 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.845595;
longitude = -122.134846;
captureRadius = 10;
duration = 137;
initialDepth = 81.307873;
finalDepth = 83.132787;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.76242
#   Altitude Set: 26.76242
#   Vehicle Depth:81.307873 
#   Seafloor Depth:-108.070293
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.23;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.07;
MB_Bottom_Detect_Filter_Max_Range = 64.23;
MB_Bottom_Detect_Filter_Min_Depth = 20.07;
MB_Bottom_Detect_Filter_Max_Depth = 34.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 110.813976 meters
#   Minimum depth: 105.997286 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 80.997286 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.846051;
longitude = -122.133838;
captureRadius = 10;
duration = 147;
initialDepth = 80.997286;
finalDepth = 81.307873;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 26.76242
#   Altitude Set: 26.76242
#   Vehicle Depth:80.997286 
#   Seafloor Depth:-105.997286
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 64.23;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 20.07;
MB_Bottom_Detect_Filter_Max_Range = 64.23;
MB_Bottom_Detect_Filter_Min_Depth = 20.07;
MB_Bottom_Detect_Filter_Max_Depth = 34.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Edgetech sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 1;
}
# Set sonar parameters 
#   Actual Altitude: 25.573495
#   Altitude Set: 25.573495
#   Vehicle Depth:81.1243 
#   Seafloor Depth:-106.697795
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 64.0;
SBP_Duration = 450.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 220;
MB_Range = 61.38;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.18;
MB_Bottom_Detect_Filter_Max_Range = 61.38;
MB_Bottom_Detect_Filter_Min_Depth = 19.18;
MB_Bottom_Detect_Filter_Max_Depth = 33.25;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Snippet_Mode = 0;
Window_Size = 0;
Log_Mode = 0;
}
# 
#######################################################
# 
# Waypoint_depth behavior to get to start of line 1
#   Segment length 750.000000 meters
#   Minimum depth: 106.124300 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 500.000000 meters
#   Desired vehicle altitude: 25.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 81.124300 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.846541;
longitude = -122.132755;
captureRadius = 10;
duration = 1000;
initialDepth = 81.124300;
finalDepth = 80.997286;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 240.090291;
pitch = -15.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 18.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 240.090291;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 60;
abortOnTimeout = True;
}
#######################################################