# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <tharp> at <Thu Mar 24 13:04:03 PDT 2016>
#
# Program mbm_route2mission version:
#     : mbm_route2mission 2269 2016-03-23 07:32:42Z caress r
#
# Mission Summary:
#     Route File:		2016_WallTest_17v1.rte
#     Mission File:		2016_WallTest_17v1.cfg
#     Distance: 		9920.904465 (m)
#     Estimated Time:		8455 (s)  2.349 (hr)
#     Abort Time:		10991 (s)
#     Max battery life: 	68400 (s)
#     Safety margin:		1800 (s)
#     Ascend time:		1436 (s)
#     Way Points:		25
#     Route Points:		25
#     Survey Behaviors:
#	   Behavior for waypoint mode 0:   WaypointDepth
#	   Behavior for waypoint mode 1:   WaypointWall
#	   Behavior for waypoint mode 2:   WaypointWall
#	   Behavior for waypoint mode 3:   WaypointWall
#	   Behavior for waypoint mode 4:   WaypointWall
#     Descent style:		Waypoint descent
#     Mapping sonar control enabled:
#				Multibeam enabled
#				  Multibeam receive gain:	    20 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 disabled
#				Low sidescan disabled
#				High sidescan disabled
#     Benthic imaging camera control disabled:
#
# Mission Parameters:
#     Vehicle Survey Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 40 (m)
#     Abort Vehicle Altitude 1:   20 (m)
#     Delta Depth Restart 1:	  20 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   900 (m)
#     Constant Vehicle Depth 2:   900 (m)
#     Maximum Vehicle Depth:	  969.059387 (m)
#     Abort Vehicle Depth:	  989.059387 (m)
#     Descent Vehicle Depth:	  3 (m)
#     Waypoint Spacing: 	  2000 (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 -121.972032 36.798672 -105.294687 0.000000 3
#   1 -121.971315 36.789318 -348.363022 1039.711262 1
#   2 -121.982140 36.774989 -810.603729 2899.875273 1
#   3 -121.983664 36.773565 -861.286102 3108.338513 1
#   4 -121.985957 36.772405 -913.532104 3350.086294 1
#   5 -121.991306 36.774773 -945.598145 3894.984632 1
#   6 -121.993636 36.774809 -951.245651 4102.967752 9
#   7 -121.995676 36.773583 -937.570297 4330.227291 1
#   8 -121.997850 36.773565 -946.527649 4524.262758 1
#   9 -122.001757 36.774280 -973.525360 4881.861491 1
#   10 -122.004827 36.774514 -981.857376 5157.076707 1
#   11 -122.006844 36.775253 -988.920944 5354.877145 3
#   12 -122.000703 36.776227 -943.799179 5913.483666 9
#   13 -121.995676 36.773583 -937.570297 6449.505373 1
#   14 -121.997850 36.773565 -946.527649 6643.540840 1
#   15 -122.001757 36.774280 -973.525360 7001.139573 1
#   16 -122.004820 36.774520 -981.857376 7275.796571 1
#   17 -122.006867 36.775253 -989.059387 7475.765046 3
#   18 -121.995706 36.775253 -955.581055 8471.839562 9
#   19 -121.995676 36.773421 -925.735092 8675.099295 1
#   20 -121.997850 36.773385 -933.506104 8869.166017 1
#   21 -122.001772 36.774106 -974.529800 9228.218721 1
#   22 -122.004894 36.774334 -982.750626 9507.994100 1
#   23 -122.007001 36.775091 -988.598984 9713.937888 3
#   24 -122.006097 36.776809 -957.972931 9920.904465 4
#
# A total of 25 mission points have been defined.
#
# Define Mission parameters:
#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 10991;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 969.059387;
abortDepth = 989.059387;
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 = 2000;
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 24
#   Segment length 206.966577 meters
#   Minimum depth: 957.972931 meters looking forward 0.000000 meters along route
#   Maximum depth: 957.972931 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 907.972931 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776809;
longitude = -122.006097;
duration = 827;
# abortOnTimeout    = True;
initialDepth = 900;
finalDepth = 900;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  907.972931
#   Seafloor depth:	      -957.972931
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 23
#   Segment length 205.943788 meters
#   Minimum depth: 988.598984 meters looking forward 0.000000 meters along route
#   Maximum depth: 988.598984 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 938.598984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.775091;
longitude = -122.007001;
lastLatitude = 36.774334;
lastLongitude = -122.004894;
duration = 823;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900;
speed = 1.500000;
maxCrossTrackError = 10;
starboardMaxCrossTrackError = 40;
standOff = 30;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
waypointPriority = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  938.598984
#   Seafloor depth:	      -988.598984
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 22
#   Segment length 279.775379 meters
#   Minimum depth: 982.750626 meters looking forward 0.000000 meters along route
#   Maximum depth: 982.750626 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774334;
longitude = -122.004894;
lastLatitude = 36.774106;
lastLongitude = -122.001772;
duration = 1119;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 10;
starboardMaxCrossTrackError = 40;
standOff = 30;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
waypointPriority = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       82.750626
#   Actual altitude:	      82.750626
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -982.750626
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 24.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 21
#   Segment length 359.052704 meters
#   Minimum depth: 974.529800 meters looking forward 0.000000 meters along route
#   Maximum depth: 974.529800 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774106;
longitude = -122.001772;
lastLatitude = 36.773385;
lastLongitude = -121.997850;
duration = 1436;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 10;
starboardMaxCrossTrackError = 40;
standOff = 30;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
waypointPriority = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       82.750626
#   Actual altitude:	      82.750626
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -974.529800
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 24.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 20
#   Segment length 194.066722 meters
#   Minimum depth: 933.506104 meters looking forward 0.000000 meters along route
#   Maximum depth: 933.506104 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.773385;
longitude = -121.997850;
lastLatitude = 36.773421;
lastLongitude = -121.995676;
duration = 776;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 10;
starboardMaxCrossTrackError = 40;
standOff = 30;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
waypointPriority = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       74.5298
#   Actual altitude:	      74.5298
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -933.506104
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 22.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 19
#   Segment length 203.259733 meters
#   Minimum depth: 925.735092 meters looking forward 0.000000 meters along route
#   Maximum depth: 925.735092 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.773421;
longitude = -121.995676;
lastLatitude = 36.775253;
lastLongitude = -121.995706;
duration = 813;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 10;
starboardMaxCrossTrackError = 40;
standOff = 30;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
waypointPriority = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       33.5061040000001
#   Actual altitude:	      40
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -925.735092
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 12.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# 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 18
#   Segment length 996.074516 meters
#   Minimum depth: 955.581055 meters looking forward 0.000000 meters along route
#   Maximum depth: 955.581055 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775253;
longitude = -121.995706;
duration = 3984;
# abortOnTimeout    = True;
initialDepth = 900;
finalDepth = 900.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       55.581055
#   Actual altitude:	      55.581055
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -955.581055
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 16.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 17
#   Segment length 199.968475 meters
#   Minimum depth: 989.059387 meters looking forward 0.000000 meters along route
#   Maximum depth: 989.059387 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 939.059387 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.775253;
longitude = -122.006867;
lastLatitude = 36.774520;
lastLongitude = -122.004820;
duration = 799;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       55.581055
#   Actual altitude:	      55.581055
#   Commanded vehicle depth:  939.059387
#   Seafloor depth:	      -989.059387
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 16.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 16
#   Segment length 274.656998 meters
#   Minimum depth: 981.857376 meters looking forward 0.000000 meters along route
#   Maximum depth: 981.857376 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774520;
longitude = -122.004820;
lastLatitude = 36.774280;
lastLongitude = -122.001757;
duration = 1098;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       81.857376
#   Actual altitude:	      81.857376
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -981.857376
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 24.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 15
#   Segment length 357.598733 meters
#   Minimum depth: 973.525360 meters looking forward 0.000000 meters along route
#   Maximum depth: 973.525360 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774280;
longitude = -122.001757;
lastLatitude = 36.773565;
lastLongitude = -121.997850;
duration = 1430;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       81.857376
#   Actual altitude:	      81.857376
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -973.525360
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 24.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 14
#   Segment length 194.035467 meters
#   Minimum depth: 946.527649 meters looking forward 0.000000 meters along route
#   Maximum depth: 946.527649 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.773565;
longitude = -121.997850;
lastLatitude = 36.773583;
lastLongitude = -121.995676;
duration = 776;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       73.52536
#   Actual altitude:	      73.52536
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -946.527649
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 22.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 13
#   Segment length 536.021707 meters
#   Minimum depth: 937.570297 meters looking forward 0.000000 meters along route
#   Maximum depth: 937.570297 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.773583;
longitude = -121.995676;
lastLatitude = 36.776227;
lastLongitude = -122.000703;
duration = 2144;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       46.527649
#   Actual altitude:	      46.527649
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -937.570297
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 13.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# 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 12
#   Segment length 558.606521 meters
#   Minimum depth: 943.799179 meters looking forward 0.000000 meters along route
#   Maximum depth: 943.799179 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776227;
longitude = -122.000703;
duration = 2234;
# abortOnTimeout    = True;
initialDepth = 900;
finalDepth = 900.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       43.799179
#   Actual altitude:	      43.799179
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -943.799179
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 13.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
behavior waypoint_wall_escape
{
  duration = 30;
  depth = 900;
  speed = 1.500000;
  distance = 10;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 11
#   Segment length 197.800438 meters
#   Minimum depth: 988.920944 meters looking forward 0.000000 meters along route
#   Maximum depth: 988.920944 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 938.920944 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.775253;
longitude = -122.006844;
lastLatitude = 36.774514;
lastLongitude = -122.004827;
duration = 791;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  938.920944
#   Seafloor depth:	      -988.920944
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 10
#   Segment length 275.215216 meters
#   Minimum depth: 981.857376 meters looking forward 0.000000 meters along route
#   Maximum depth: 981.857376 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774514;
longitude = -122.004827;
lastLatitude = 36.774280;
lastLongitude = -122.001757;
duration = 1100;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       81.857376
#   Actual altitude:	      81.857376
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -981.857376
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 24.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 9
#   Segment length 357.598733 meters
#   Minimum depth: 973.525360 meters looking forward 0.000000 meters along route
#   Maximum depth: 973.525360 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774280;
longitude = -122.001757;
lastLatitude = 36.773565;
lastLongitude = -121.997850;
duration = 1430;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       81.857376
#   Actual altitude:	      81.857376
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -973.525360
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 24.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 8
#   Segment length 194.035467 meters
#   Minimum depth: 946.527649 meters looking forward 0.000000 meters along route
#   Maximum depth: 946.527649 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.773565;
longitude = -121.997850;
lastLatitude = 36.773583;
lastLongitude = -121.995676;
duration = 776;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       73.52536
#   Actual altitude:	      73.52536
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -946.527649
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 22.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 7
#   Segment length 227.259539 meters
#   Minimum depth: 937.570297 meters looking forward 0.000000 meters along route
#   Maximum depth: 937.570297 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.773583;
longitude = -121.995676;
lastLatitude = 36.774809;
lastLongitude = -121.993636;
duration = 909;
# abortOnTimeout    = True;
initialDepth = 900.000000;
finalDepth = 900.000000;
speed = 1.500000;
maxCrossTrackError = 15;
starboardMaxCrossTrackError = 40;
standOff = 50;
sonarTimeOut = 2;
useWallEstimator = True;
filterType = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       46.527649
#   Actual altitude:	      46.527649
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -937.570297
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 13.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# 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 6
#   Segment length 207.983120 meters
#   Minimum depth: 951.245651 meters looking forward 0.000000 meters along route
#   Maximum depth: 951.245651 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774809;
longitude = -121.993636;
duration = 831;
# abortOnTimeout    = True;
initialDepth = 895.598145;
finalDepth = 900.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       51.245651
#   Actual altitude:	      51.245651
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -951.245651
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 5
#   Segment length 544.898338 meters
#   Minimum depth: 945.598145 meters looking forward 0.000000 meters along route
#   Maximum depth: 945.598145 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 895.598145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774773;
longitude = -121.991306;
duration = 2179;
# abortOnTimeout    = True;
initialDepth = 863.532104;
finalDepth = 895.598145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       51.245651
#   Actual altitude:	      51.245651
#   Commanded vehicle depth:  895.598145
#   Seafloor depth:	      -945.598145
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 4
#   Segment length 241.747781 meters
#   Minimum depth: 913.532104 meters looking forward 0.000000 meters along route
#   Maximum depth: 913.532104 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 863.532104 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772405;
longitude = -121.985957;
duration = 966;
# abortOnTimeout    = True;
initialDepth = 811.286102;
finalDepth = 863.532104;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  863.532104
#   Seafloor depth:	      -913.532104
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 3
#   Segment length 208.463240 meters
#   Minimum depth: 861.286102 meters looking forward 0.000000 meters along route
#   Maximum depth: 861.286102 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.286102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773565;
longitude = -121.983664;
duration = 833;
# abortOnTimeout    = True;
initialDepth = 760.603729;
finalDepth = 811.286102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  811.286102
#   Seafloor depth:	      -861.286102
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 2
#   Segment length 1860.164011 meters
#   Minimum depth: 810.603729 meters looking forward 0.000000 meters along route
#   Maximum depth: 810.603729 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 760.603729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774989;
longitude = -121.982140;
duration = 7440;
# abortOnTimeout    = True;
initialDepth = 298.363022;
finalDepth = 760.603729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  760.603729
#   Seafloor depth:	      -810.603729
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 1
#   Segment length 1039.711262 meters
#   Minimum depth: 348.363022 meters looking forward 0.000000 meters along route
#   Maximum depth: 348.363022 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 298.363022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789318;
longitude = -121.971315;
duration = 4158;
# abortOnTimeout    = True;
initialDepth = 55.294687;
finalDepth = 298.363022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  298.363022
#   Seafloor depth:	      -348.363022
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#######################################################
# Turn Mapping sonars on and start logging.
#
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Sonar parameter altitude: 50
#   Commanded vehicle depth:  55.294687
#   Seafloor depth:	      -105.294687
#
behavior reson
{
duration = 6;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
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;
Log_Mode = 0;
}
#
#######################################################
#
# Waypoint behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 105.294687 meters looking forward 0.000000 meters along route
#   Maximum depth: 105.294687 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.059387 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.294687 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.798672;
longitude = -121.972032;
duration = 600;
depth = 55.294687;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#
#######################################################
#######################################################
#
#
# Descend behavior
behavior descend
{
horizontalMode = heading;
horizontal = 300;
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 = 300;
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 = 20;
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;
}
#
#######################################################
#######################################################
#######################################################
#######################################################