# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <holmes> at <Tue Nov  1 14:53:06 PDT 2016>
#
# Program mbm_route2mission version:
#     : mbm_route2mission 2280 2016-08-07 03:48:42Z caress r
#
# Mission Summary:
#     Route File:		PortSteve4LapsV2.rte
#     Mission File:		PortSteve4LapsV2.cfg
#     Distance: 		4672.816922 (m)
#     Estimated Time:		4125 (s)  1.146 (hr)
#     Abort Time:		6188 (s)
#     Max battery life: 	68400 (s)
#     Safety margin:		1800 (s)
#     Ascend time:		300 (s)
#     Way Points:		28
#     Route Points:		28
#     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:	    3e-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: 20 (m)
#     Abort Vehicle Altitude 1:   10 (m)
#     Delta Depth Restart 1:	  10 (m)
#     Desired Vehicle Altitude 1: 20 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:	  87.225986 (m)
#     Abort Vehicle Depth:	  97.225986 (m)
#     Descent Vehicle Depth:	  3 (m)
#     Waypoint Spacing: 	  500 (m)
#     Maximum climb rate:	  25 (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 -121.943355 36.700406 -98.314089 0.000000 9
#   1 -121.943359 36.699556 -97.214506 94.299523 9
#   2 -121.943381 36.697898 -81.247305 278.248204 9
#   3 -121.940669 36.697351 -89.767609 528.014249 9
#   4 -121.939795 36.696621 -89.455492 640.510556 9
#   5 -121.940672 36.697357 -89.810513 753.672396 9
#   6 -121.943359 36.699556 -97.214506 1095.925060 9
#   7 -121.943348 36.700412 -98.314089 1190.894629 9
#   8 -121.943359 36.699565 -97.225986 1284.865794 9
#   9 -121.943381 36.697898 -81.247305 1469.812876 9
#   10 -121.940669 36.697360 -89.682535 1719.338199 9
#   11 -121.939795 36.696621 -89.455492 1832.555414 9
#   12 -121.940669 36.697360 -89.682535 1945.772628 9
#   13 -121.943359 36.699556 -97.214506 2287.976293 9
#   14 -121.943348 36.700412 -98.314089 2382.945862 9
#   15 -121.943359 36.699565 -97.225986 2476.917027 9
#   16 -121.943389 36.697901 -80.845678 2661.540300 9
#   17 -121.940669 36.697351 -89.767609 2912.080529 9
#   18 -121.939795 36.696621 -89.455492 3024.576835 9
#   19 -121.940661 36.697357 -89.767609 3137.060513 9
#   20 -121.943359 36.699565 -97.225986 3480.714100 9
#   21 -121.943348 36.700412 -98.314089 3574.685265 9
#   22 -121.943359 36.699565 -97.225986 3668.656430 9
#   23 -121.943393 36.697907 -82.101851 3852.619688 9
#   24 -121.940657 36.697360 -89.571955 4104.466086 9
#   25 -121.939788 36.696628 -89.455492 4216.813088 9
#   26 -121.940669 36.697351 -89.767609 4329.188738 9
#   27 -121.943359 36.699565 -97.225986 4672.816922 4
#
# A total of 28 mission points have been defined.
#
# Define Mission parameters:
#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 5000;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 87.225986;
abortDepth = 97.225986;
minAltitude = 20.000000;
abortAltitude = 10.000000;
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;
}
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 27
#   Segment length 343.628184 meters
#   Minimum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Desired vehicle altitude: 20.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 77.225986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.699565;
longitude = -121.943359;
lastLatitude = 36.697358939781850;
lastLongitude = -121.9407238896241;
duration = 1374;
depth = 50;
speed = 1.500000;
reinitFilter = True;
deltaNorthing = -19.;
deltaEasting = 3.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       20
#   Actual altitude:	      20
#   Commanded vehicle depth:  77.225986
#   Seafloor depth:	      -97.225986
#
behavior reson
{
duration = 6;
MB_Range = 100.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 6.00;
MB_Bottom_Detect_Filter_Max_Range = 100.00;
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 26
#   Segment length 112.375650 meters
#   Minimum depth: 89.767609 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.767609 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697351;
longitude = -121.940669;
duration = 449;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -19.;
deltaEasting = 3.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.767609
#   Actual altitude:	      39.767609
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.767609
#
behavior reson
{
duration = 6;
MB_Range = 198.84;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.93;
MB_Bottom_Detect_Filter_Max_Range = 198.84;
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 25
#   Segment length 112.347002 meters
#   Minimum depth: 89.455492 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.455492 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.696628;
longitude = -121.939788;
duration = 449;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -19.;
deltaEasting = 3.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.767609
#   Actual altitude:	      39.767609
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.455492
#
behavior reson
{
duration = 6;
MB_Range = 198.84;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.93;
MB_Bottom_Detect_Filter_Max_Range = 198.84;
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 24
#   Segment length 251.846398 meters
#   Minimum depth: 89.571955 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.571955 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697360;
longitude = -121.940657;
lastLatitude = 36.697923612690794;
lastLongitude = -121.9434027728280;
duration = 1007;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -19.;
deltaEasting = 3.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.571955
#   Actual altitude:	      39.571955
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.571955
#
behavior reson
{
duration = 6;
MB_Range = 197.86;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.87;
MB_Bottom_Detect_Filter_Max_Range = 197.86;
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 23
#   Segment length 183.963258 meters
#   Minimum depth: 82.101851 meters looking forward 0.000000 meters along route
#   Maximum depth: 82.101851 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697907;
longitude = -121.943393;
lastLatitude = 36.699546015793537;
lastLongitude = -121.9433805664232;
duration = 735;
# abortOnTimeout    = True;
depth = 50.000000;
speed = 1.500000;
reinitFilter = True;
deltaNorthing = -19.;
deltaEasting = 3.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.571955
#   Actual altitude:	      39.571955
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -82.101851
#
behavior reson
{
duration = 6;
MB_Range = 197.86;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.87;
MB_Bottom_Detect_Filter_Max_Range = 197.86;
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 22
#   Segment length 93.971165 meters
#   Minimum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.699565;
longitude = -121.943359;
duration = 375;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -9.;
deltaEasting = 13.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       47.225986
#   Actual altitude:	      47.225986
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -97.225986
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.17;
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 21
#   Segment length 93.971165 meters
#   Minimum depth: 98.314089 meters looking forward 0.000000 meters along route
#   Maximum depth: 98.314089 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
#
# Northern offset.
#
behavior waypoint_bottom
{
latitude = 36.700412;
longitude = -121.943348;
duration = 375;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -9.;
deltaEasting = 13.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       48.314089
#   Actual altitude:	      48.314089
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -98.314089
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.49;
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 20
#   Segment length 343.653587 meters
#   Minimum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.699565;
longitude = -121.943359;
lastLatitude = 36.697358939781850;
lastLongitude = -121.9407238896241;
duration = 1374;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -9.;
deltaEasting = 13.;
reinitFilter = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       48.314089
#   Actual altitude:	      48.314089
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -97.225986
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.49;
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 19
#   Segment length 112.483678 meters
#   Minimum depth: 89.767609 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.767609 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697357;
longitude = -121.940661;
duration = 449;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -9.;
deltaEasting = 13.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       47.225986
#   Actual altitude:	      47.225986
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.767609
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.17;
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 112.496306 meters
#   Minimum depth: 89.455492 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.455492 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.696621;
longitude = -121.939795;
duration = 449;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -9.;
deltaEasting = 13.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.767609
#   Actual altitude:	      39.767609
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.455492
#
behavior reson
{
duration = 6;
MB_Range = 198.84;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.93;
MB_Bottom_Detect_Filter_Max_Range = 198.84;
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 17
#   Segment length 250.540229 meters
#   Minimum depth: 89.767609 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.767609 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
#
# Turn East.
#
behavior waypoint_bottom
{
latitude = 36.697351;
longitude = -121.940669;
lastLatitude = 36.697923612690794;
lastLongitude = -121.9434027728280;
duration = 1002;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = -9.;
deltaEasting = 13.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.767609
#   Actual altitude:	      39.767609
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.767609
#
behavior reson
{
duration = 6;
MB_Range = 198.84;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.93;
MB_Bottom_Detect_Filter_Max_Range = 198.84;
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 16
#   Segment length 184.623273 meters
#   Minimum depth: 80.845678 meters looking forward 0.000000 meters along route
#   Maximum depth: 80.845678 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
#
# Head south, start new lap.
#
behavior waypoint_bottom
{
latitude = 36.697901;
longitude = -121.943389;
lastLatitude = 36.699546015793537;
lastLongitude = -121.9433805664232;
duration = 738;
# abortOnTimeout    = True;
depth = 50.000000;
speed = 1.500000;
reinitFilter = True;
deltaNorthing = -9.;
deltaEasting = 13.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.767609
#   Actual altitude:	      39.767609
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -80.845678
#
behavior reson
{
duration = 6;
MB_Range = 198.84;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.93;
MB_Bottom_Detect_Filter_Max_Range = 198.84;
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 15
#   Segment length 93.971165 meters
#   Minimum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
#
# Heading south to start of northern line.
#
behavior waypoint_bottom
{
latitude = 36.699565;
longitude = -121.943359;
duration = 375;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = 1.;
deltaEasting = 23.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       47.225986
#   Actual altitude:	      47.225986
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -97.225986
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.17;
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 14
#   Segment length 94.969569 meters
#   Minimum depth: 98.314089 meters looking forward 0.000000 meters along route
#   Maximum depth: 98.314089 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
#
# Northern offset
#
behavior waypoint_bottom
{
latitude = 36.700412;
longitude = -121.943348;
duration = 379;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = 1.;
deltaEasting = 23.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       48.314089
#   Actual altitude:	      48.314089
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -98.314089
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.49;
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 13
#   Segment length 342.203665 meters
#   Minimum depth: 97.214506 meters looking forward 0.000000 meters along route
#   Maximum depth: 97.214506 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
#
# North along the hypotenuse; Nothern waypoint.
#
behavior waypoint_bottom
{
latitude = 36.699556;
longitude = -121.943359;
lastLatitude = 36.697358939781850;
lastLongitude = -121.9407238896241;
duration = 1368;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = 1.;
deltaEasting = 23.;
reinitFilter = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       48.314089
#   Actual altitude:	      48.314089
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -97.214506
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.49;
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 113.217214 meters
#   Minimum depth: 89.682535 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.682535 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697360;
longitude = -121.940669;
duration = 452;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = 1.;
deltaEasting = 23.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       47.214506
#   Actual altitude:	      47.214506
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.682535
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.16;
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 11
#   Segment length 113.217215 meters
#   Minimum depth: 89.455492 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.455492 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.696621;
longitude = -121.939795;
duration = 452;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = 1.;
deltaEasting = 23.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.682535
#   Actual altitude:	      39.682535
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.455492
#
behavior reson
{
duration = 6;
MB_Range = 198.41;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.90;
MB_Bottom_Detect_Filter_Max_Range = 198.41;
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 10
#   Segment length 249.525323 meters
#   Minimum depth: 89.682535 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.682535 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697360;
longitude = -121.940669;
lastLatitude = 36.697923612690794;
lastLongitude = -121.9434027728280;
duration = 998;
depth = 50.000000;
speed = 1.500000;
deltaNorthing = 1.;
deltaEasting = 23.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.682535
#   Actual altitude:	      39.682535
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.682535
#
behavior reson
{
duration = 6;
MB_Range = 198.41;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.90;
MB_Bottom_Detect_Filter_Max_Range = 198.41;
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 9
#   Segment length 184.947082 meters
#   Minimum depth: 81.247305 meters looking forward 0.000000 meters along route
#   Maximum depth: 81.247305 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697898;
longitude = -121.943381;
lastLatitude = 36.699546015793537;
lastLongitude = -121.9433805664232;
duration = 739;
depth = 50.000000;
speed = 1.500000;
reinitFilter = True;
deltaNorthing = 1.;
deltaEasting = 23.;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.682535
#   Actual altitude:	      39.682535
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -81.247305
#
behavior reson
{
duration = 6;
MB_Range = 198.41;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.90;
MB_Bottom_Detect_Filter_Max_Range = 198.41;
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 8
#   Segment length 93.971165 meters
#   Minimum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum depth: 97.225986 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.699565;
longitude = -121.943359;
duration = 375;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       47.225986
#   Actual altitude:	      47.225986
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -97.225986
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.17;
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 7
#   Segment length 94.969569 meters
#   Minimum depth: 98.314089 meters looking forward 0.000000 meters along route
#   Maximum depth: 98.314089 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.700412;
longitude = -121.943348;
duration = 379;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       48.314089
#   Actual altitude:	      48.314089
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -98.314089
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.49;
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 342.252664 meters
#   Minimum depth: 97.214506 meters looking forward 0.000000 meters along route
#   Maximum depth: 97.214506 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.699556;
longitude = -121.943359;
lastLatitude = 36.697358939781850;
lastLongitude = -121.9407238896241;
duration = 1369;
depth = 50.000000;
speed = 1.500000;
reinitFilter = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       48.314089
#   Actual altitude:	      48.314089
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -97.214506
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.49;
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 5
#   Segment length 113.161840 meters
#   Minimum depth: 89.810513 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.810513 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697357;
longitude = -121.940672;
duration = 452;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       47.214506
#   Actual altitude:	      47.214506
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.810513
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.16;
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 4
#   Segment length 112.496307 meters
#   Minimum depth: 89.455492 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.455492 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.696621;
longitude = -121.939795;
duration = 449;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.810513
#   Actual altitude:	      39.810513
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.455492
#
behavior reson
{
duration = 6;
MB_Range = 199.05;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.94;
MB_Bottom_Detect_Filter_Max_Range = 199.05;
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 3
#   Segment length 249.766045 meters
#   Minimum depth: 89.767609 meters looking forward 0.000000 meters along route
#   Maximum depth: 89.767609 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697351;
longitude = -121.940669;
lastLatitude = 36.697923612690794;
lastLongitude = -121.9434027728280;
duration = 999;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.767609
#   Actual altitude:	      39.767609
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -89.767609
#
behavior reson
{
duration = 6;
MB_Range = 198.84;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.93;
MB_Bottom_Detect_Filter_Max_Range = 198.84;
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 2
#   Segment length 183.948681 meters
#   Minimum depth: 81.247305 meters looking forward 0.000000 meters along route
#   Maximum depth: 81.247305 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.697898;
longitude = -121.943381;
lastLatitude = 36.699546015793537;
lastLongitude = -121.9433805664232;
duration = 735;
depth = 50.000000;
speed = 1.500000;
reinitFilter = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       39.767609
#   Actual altitude:	      39.767609
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -81.247305
#
behavior reson
{
duration = 6;
MB_Range = 198.84;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 11.93;
MB_Bottom_Detect_Filter_Max_Range = 198.84;
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 1
#   Segment length 94.299523 meters
#   Minimum depth: 97.214506 meters looking forward 0.000000 meters along route
#   Maximum depth: 97.214506 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.699556;
longitude = -121.943359;
duration = 377;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       47.214506
#   Actual altitude:	      47.214506
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -97.214506
#
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 14.16;
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:	      9
#   Commanded altitude:       48.314089
#   Sonar parameter altitude: 48.314089
#   Commanded vehicle depth:  50
#   Seafloor depth:	      -98.314089
#
behavior reson
{
duration = 6;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 14.49;
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: 98.314089 meters looking forward 0.000000 meters along route
#   Maximum depth: 98.314089 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 87.225986 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.700406;
longitude = -121.943355;
duration = 900;
depth = 50.000000;
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 = 160.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 20.000000;
duration = 300;
}
#
# setpoint on surface to gather momentum
behavior setpoint
{
duration = 30;
heading = 160.0;
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 = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 6.00;
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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