

# 
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# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
#timeOut = 2200;
behavior missionTimer
{
timeOut = 2700;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 76;
abortDepth = 80.000000;
minAltitude = 7.000000;
abortAltitude = 5.000000;
deltaDepthRestart = 10.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
# 
# Acoustic update 1 - sent status ping after end of survey 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Turn off power to sonars and stop logging on the PLC 
# by setting the value of the mode attribute to 0 (used to be False). 
behavior reson
{
duration = 6;
MB_Power = 0;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode = 0;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            9
#   Commanded altitude:       41.347141
#   Actual altitude:          41.347141
#   Commanded vehicle depth:  50 
#   Seafloor depth:           -91.347141
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 144.71;
MB_Rate = 3;
MB_Gain = 50;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 12.40;
MB_Bottom_Detect_Filter_Max_Range = 144.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 144.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}

behavior waypoint_bottom
{
latitude = 36.696275;
longitude = -121.936;
duration = 900;
depth = 75;
altitude = 15;
speed = 1.500000;
tau=3;
avoidRange=100.0;
}
#avoidRange=30;
#feedThetaForward=True;
#######################################################
# Reset sonar parameters 
#   Waypoint type:            9
#   Commanded altitude:       43.70266
#   Actual altitude:          43.70266
#   Commanded vehicle depth:  50 
#   Seafloor depth:           -93.702660
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 152.96;
MB_Rate = 3;
MB_Gain = 50;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 13.11;
MB_Bottom_Detect_Filter_Max_Range = 152.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 152.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}

behavior waypoint_bottom
{
latitude = 36.696275;
longitude = -121.946;
duration = 900;
depth = 75;
altitude = 15;
speed = 1.500000;
tau=3;
avoidRange=100.0;
}
#avoidRange=30;
#feedThetaForward=True;
#######################################################
# Reset sonar parameters 
#   Waypoint type:            9
#   Commanded altitude:       45.740786
#   Actual altitude:          45.740786
#   Commanded vehicle depth:  50 
#   Seafloor depth:           -95.740786
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 160.09;
MB_Rate = 3;
MB_Gain = 50;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 13.72;
MB_Bottom_Detect_Filter_Max_Range = 160.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 160.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
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# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 3;
}
# Set sonar parameters 
#   Waypoint type:            9
#   Commanded altitude:       45.740786
#   Sonar parameter altitude: 45.740786
#   Commanded vehicle depth:  50 
#   Seafloor depth:           -94.522772
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
HiSS_Mode = 1;
HiSS_Power = 100.0;
HiSS_Range = 200;
MB_Power = 220;
MB_Range = 160.09;
MB_Rate = 3;
MB_Gain = 50;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 13.72;
MB_Bottom_Detect_Filter_Max_Range = 160.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 160.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}

behavior waypoint
{
latitude = 36.696275;
longitude = -121.936;
duration = 1000;
depth = 60;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 270.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 50.000000;
minAltitude = 15.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 270.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off 
# 
behavior reson
{
duration = 6;
MB_Mode = 1;
Log_Mode = 0;
SBP_Mode = 0;
SBP_Power = 0.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 0;
LoSS_Power = 0.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 0;
MB_Range = 100.00;
MB_Rate = 3;
MB_Gain = 50;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 7.50;
MB_Bottom_Detect_Filter_Max_Range = 100.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 100.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
# 
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