# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <tharp> at <Mon Sep 28 12:53:44 PDT 2015>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2238 2015-04-15 06:00:52Z caress r
# 
# Mission Summary:
#     Route File:               NewMAUVTest_m2v2.rte
#     Mission File:             NewMAUVTest_m2v2.cfg
#     Distance:                 6702.979121 (m)
#     Estimated Time:           5453 (s)  1.515 (hr)
#     Abort Time:               7089 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               11
#     Route Points:             17
#     Survey Behaviors:
#          Behavior for waypoint mode 0:   WaypointDepth
#          Behavior for waypoint mode 1:   WaypointDepth
#          Behavior for waypoint mode 2:   WaypointDepth
#          Behavior for waypoint mode 3:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           30 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            6e-05 usec
#                                 Multibeam minimum range fraction: 0.3
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan enabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 40 (m)
#     Abort Vehicle Altitude 1:   20 (m)
#     Delta Depth Restart 1:      20 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 75 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      379.26136 (m)
#     Abort Vehicle Depth:        399.26136 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   50 (m)
#     Waypoint Spacing:           500 (m)
#     Maximum climb rate:         36.0 (degrees)
#     GPS Duration:               600 (s)
#     Descend Rate:               0.417 (m/s)
#     Ascend Rate:                1 (m/s)
#     Initial descend Duration:   300 (s)
#     Setpoint Duration:          30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.874628 36.777864 -100.216309 0.000000 3
#   1 -121.874649 36.776912 -98.157389 105.662865 1
#   2 -121.874612 36.775500 -96.011159 262.359507 5
#   3 -121.874649 36.773577 -95.918996 475.711377 5
#   4 -121.874724 36.771984 -96.923096 652.497446 3
#   5 -121.874724 36.770452 -98.181580 822.491386 3
#   6 -121.874612 36.778114 -100.611938 1672.520301 1
#   7 -121.883754 36.782190 -143.069023 2605.330361 1
#   8 -121.892880 36.792645 -404.988892 4022.562531 3
#   9 -121.888799 36.794868 -399.261360 4462.355198 3
#   10 -121.873069 36.779126 -101.199196 6702.979121 4
# 
# A total of 17 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 7089;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 379.261360;
abortDepth = 399.261360;
minAltitude = 40.000000;
abortAltitude = 20.000000;
deltaDepthRestart = 20.000000;
}
#######################################################
# 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;
}
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 732.562785 meters
#   Minimum depth: 101.199196 meters looking forward 50.000000 meters along route
#   Maximum depth: 169.835229 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.199196 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779126;
longitude = -121.873069;
duration = 1465;
# abortOnTimeout    = True; 
initialDepth = 121.441089;
finalDepth = 51.199196;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  51.199196 
#   Seafloor depth:           -101.199196
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 500.335615 meters
#   Minimum depth: 171.441089 meters looking forward 50.000000 meters along route
#   Maximum depth: 309.288921 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.441089 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784273;
longitude = -121.878212;
duration = 1000;
initialDepth = 261.446117;
finalDepth = 121.441089;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  121.441089 
#   Seafloor depth:           -171.441089
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 500.326435 meters
#   Minimum depth: 311.446117 meters looking forward 50.000000 meters along route
#   Maximum depth: 384.292050 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 261.446117 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787788;
longitude = -121.881724;
duration = 1000;
initialDepth = 333.747783;
finalDepth = 261.446117;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  261.446117 
#   Seafloor depth:           -311.446117
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 507.399088 meters
#   Minimum depth: 383.747783 meters looking forward 50.000000 meters along route
#   Maximum depth: 398.919216 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 333.747783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791303;
longitude = -121.885237;
duration = 1014;
initialDepth = 349.261360;
finalDepth = 333.747783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  333.747783 
#   Seafloor depth:           -383.747783
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 439.792667 meters
#   Minimum depth: 399.261360 meters looking forward 50.000000 meters along route
#   Maximum depth: 406.145836 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 349.261360 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794868;
longitude = -121.888799;
duration = 879;
# abortOnTimeout    = True; 
initialDepth = 336.425395;
finalDepth = 349.261360;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  349.26136 
#   Seafloor depth:           -399.261360
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 414.046308 meters
#   Minimum depth: 386.425395 meters looking forward 50.000000 meters along route
#   Maximum depth: 404.988892 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 336.425395 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792645;
longitude = -121.892880;
duration = 828;
# abortOnTimeout    = True; 
initialDepth = 241.783033;
finalDepth = 336.425395;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.563497
#   Actual altitude:          68.563497
#   Commanded vehicle depth:  336.425395 
#   Seafloor depth:           -404.988892
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 500.940060 meters
#   Minimum depth: 291.783033 meters looking forward 50.000000 meters along route
#   Maximum depth: 386.905361 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 241.783033 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789591;
longitude = -121.890214;
duration = 1001;
initialDepth = 94.199330;
finalDepth = 241.783033;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       145.122328
#   Actual altitude:          100
#   Commanded vehicle depth:  241.783033 
#   Seafloor depth:           -386.905361
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 502.245802 meters
#   Minimum depth: 144.199330 meters looking forward 50.000000 meters along route
#   Maximum depth: 290.880628 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 94.199330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785895;
longitude = -121.886988;
duration = 1004;
initialDepth = 65.225585;
finalDepth = 94.199330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       196.681298
#   Actual altitude:          100
#   Commanded vehicle depth:  94.19933 
#   Seafloor depth:           -290.880628
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 430.929858 meters
#   Minimum depth: 115.225585 meters looking forward 50.000000 meters along route
#   Maximum depth: 143.069023 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.225585 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782190;
longitude = -121.883754;
duration = 861;
# abortOnTimeout    = True; 
initialDepth = 50.779832;
finalDepth = 65.225585;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       196.681298
#   Actual altitude:          100
#   Commanded vehicle depth:  65.225585 
#   Seafloor depth:           -143.069023
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 501.880202 meters
#   Minimum depth: 100.779832 meters looking forward 50.000000 meters along route
#   Maximum depth: 115.030649 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.779832 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780307;
longitude = -121.879531;
duration = 1003;
initialDepth = 48.140650;
finalDepth = 50.779832;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       77.843438
#   Actual altitude:          77.843438
#   Commanded vehicle depth:  50.779832 
#   Seafloor depth:           -115.030649
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 850.028915 meters
#   Minimum depth: 98.140650 meters looking forward 50.000000 meters along route
#   Maximum depth: 100.611938 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.140650 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778114;
longitude = -121.874612;
duration = 1700;
# abortOnTimeout    = True; 
initialDepth = 46.987244;
finalDepth = 48.140650;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       64.250817
#   Actual altitude:          64.250817
#   Commanded vehicle depth:  48.14065 
#   Seafloor depth:           -100.611938
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 169.993940 meters
#   Minimum depth: 96.987244 meters looking forward 50.000000 meters along route
#   Maximum depth: 98.181580 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.987244 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770452;
longitude = -121.874724;
duration = 339;
# abortOnTimeout    = True; 
initialDepth = 45.940020;
finalDepth = 46.987244;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.471288
#   Actual altitude:          52.471288
#   Commanded vehicle depth:  46.987244 
#   Seafloor depth:           -98.181580
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
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# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 176.786069 meters
#   Minimum depth: 95.940020 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.923096 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.940020 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771984;
longitude = -121.874724;
duration = 353;
# abortOnTimeout    = True; 
initialDepth = 20.918996;
finalDepth = 45.940020;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            5
#   Commanded altitude:       51.194336
#   Actual altitude:          51.194336
#   Commanded vehicle depth:  45.94002 
#   Seafloor depth:           -96.923096
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
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# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 213.351870 meters
#   Minimum depth: 95.918996 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.088373 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 20.918996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773577;
longitude = -121.874649;
duration = 426;
# abortOnTimeout    = True; 
initialDepth = 21.011159;
finalDepth = 20.918996;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            5
#   Commanded altitude:       75
#   Actual altitude:          75
#   Commanded vehicle depth:  20.918996 
#   Seafloor depth:           -95.918996
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 156.696642 meters
#   Minimum depth: 96.011159 meters looking forward 50.000000 meters along route
#   Maximum depth: 98.089248 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 21.011159 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775500;
longitude = -121.874612;
duration = 313;
# abortOnTimeout    = True; 
initialDepth = 48.157389;
finalDepth = 21.011159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       75
#   Actual altitude:          75
#   Commanded vehicle depth:  21.011159 
#   Seafloor depth:           -96.011159
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 105.662865 meters
#   Minimum depth: 98.157389 meters looking forward 50.000000 meters along route
#   Maximum depth: 100.157094 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.157389 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776912;
longitude = -121.874649;
duration = 211;
# abortOnTimeout    = True; 
initialDepth = 49.376131;
finalDepth = 48.157389;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       75
#   Actual altitude:          75
#   Commanded vehicle depth:  48.157389 
#   Seafloor depth:           -98.157389
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 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 = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.840178
#   Sonar parameter altitude: 50.840178
#   Commanded vehicle depth:  49.376131 
#   Seafloor depth:           -100.216309
# 
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 = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 99.376131 meters looking forward 50.000000 meters along route
#   Maximum depth: 100.216309 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 379.261360 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.376131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.777864;
longitude = -121.874628;
duration = 600;
depth = 49.376131;
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 = 180.365573;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 40.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 180.365573;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off 
# 
behavior reson
{
duration = 6;
MB_Mode = 1;
Log_Mode = 0;
SBP_Mode = 0;
SBP_Power = 0.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 0;
LoSS_Power = 0.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 0;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
# 
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