# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <tharp> at <Fri Feb 26 11:55:00 PST 2016>
#
# Program mbm_route2mission version:
#     : mbm_route2mission 2261 2016-01-07 01:49:22Z caress r
#
# Mission Summary:
#     Route File:		2016_WallTest_13v1.rte
#     Mission File:		2016_WallTest_13v1.cfg
#     Distance: 		8174.415443 (m)
#     Estimated Time:		7267 (s)  2.019 (hr)
#     Abort Time:		9448 (s)
#     Max battery life: 	68400 (s)
#     Safety margin:		1800 (s)
#     Ascend time:		1122 (s)
#     Way Points:		21
#     Route Points:		21
#     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:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:	  969.154556 (m)
#     Abort Vehicle Depth:	  989.154556 (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 7
#   7 -121.995683 36.773685 -946.785843 4324.156752 1
#   8 -121.997835 36.773667 -954.717163 4516.228613 1
#   9 -122.001757 36.774280 -973.525360 4872.802490 1
#   10 -122.004872 36.774424 -982.200378 5151.265526 1
#   11 -122.006971 36.775169 -989.127823 5356.016425 3
#   12 -122.000703 36.776227 -943.868164 5927.536468 1
#   13 -121.993577 36.775848 -943.039958 6564.949184 1
#   14 -121.994623 36.774827 -953.375656 6711.747612 7
#   15 -121.995683 36.773685 -946.785843 6869.864023 1
#   16 -121.997850 36.773655 -952.676300 7063.292871 1
#   17 -122.001757 36.774280 -973.525360 7418.809970 1
#   18 -122.004872 36.774424 -982.200378 7697.273006 1
#   19 -122.006949 36.775169 -989.154556 7900.229103 3
#   20 -122.005410 36.777308 -935.033040 8174.415443 3
#
# A total of 21 mission points have been defined.
#
# Define Mission parameters:
#define SURVEY_SPEED		   1.500000
#define ASCENTDESCENT_SPEED	   1.500000
#define TRANSIT_SPEED		   1.500000
#define MISSION_DISTANCE	   8174.415443
#define MISSION_TIMEOUT 	   9448
#define DEPTH_MAX		   969.154556
#define DEPTH_ABORT		   989.154556
#define ALTITUDE_DESIRED	   50.000000
#define ALTITUDE_MIN		   40.000000
#define ALTITUDE_ABORT		   20.000000
#define DELTA_DEPTH_RESTART	   20.000000
#define ALTITUDE_DESIRED2	   50.000000
#define ALTITUDE_DESIRED3	   50.000000
#define DEPTH_CONSTANT		   50.000000
#define DEPTH_CONSTANT2 	   50.000000
#define GPS_DURATION		   600
#define DESCENT_DEPTH		   3.000000
#define SPIRAL_DESCENT_DEPTH	   0.000000
#define SPIRAL_DESCENT_ALTITUDE    0.000000
#define DESCEND_DURATION	   300
#define SETPOINT_DURATION	   30
#define GPSMINHITS		   10
#define ASCENDRUDDER		   3.000000
#define ASCENDPITCH		   45.000000
#define ASCENDENDDEPTH		   2.000000
#define DESCENDRUDDER		   2.000000
#define DESCENDPITCH		   -35.000000
#define RESON_DURATION		   6
#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = MISSION_TIMEOUT;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth      = 0;
maxDepth      = DEPTH_MAX;
abortDepth    = DEPTH_ABORT;
minAltitude   = ALTITUDE_MIN;
abortAltitude = ALTITUDE_ABORT;
deltaDepthRestart = DELTA_DEPTH_RESTART;
}
#######################################################
# Set End-of-Mission Behaviors
#
#
# acquire gps fix
behavior getgps
{
duration = GPS_DURATION;
minHits = GPSMINHITS;
abortOnTimeout = True;
}
#
# ascend behavior
behavior ascend
{
duration  = 1122;
horizontalMode	 = rudder;
horizontal	 = ASCENDRUDDER;
pitch		 = ASCENDPITCH;
speed		 = ASCENTDESCENT_SPEED;
endDepth	 = ASCENDENDDEPTH;
}
#
# 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  = RESON_DURATION;
MB_Power = 0;
SBP_Mode  = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode  = 0;
}
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 20
#   Segment length 274.186340 meters
#   Minimum depth: 935.033040 meters looking forward 0.000000 meters along route
#   Maximum depth: 935.033040 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 885.033040 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.777308;
longitude	   = -122.006410;
duration	   = 548;
# abortOnTimeout    = True;
initialDepth	   = 939.154556;
finalDepth	   = 885.033040;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  885.03304
#   Seafloor depth:	      -935.033040
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
behavior waypoint_wall_escape
{
duration = 100;
depth = 940;
speed = 1.500000;
distance = 100;
missionQueue = 1;     #Must tell Escape to run even though this is not a WW abort.
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 19
#   Segment length 202.956097 meters
#   Minimum depth: 989.154556 meters looking forward 0.000000 meters along route
#   Maximum depth: 989.154556 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 939.154556 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.775169;
longitude	   = -122.006949;
lastLatitude	   = 36.774424;
lastLongitude	   = -122.004872;
duration	   = 405;
# abortOnTimeout    = True;
initialDepth	   = 932.200378;
finalDepth	   = 939.154556;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  939.154556
#   Seafloor depth:	      -989.154556
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 18
#   Segment length 278.463036 meters
#   Minimum depth: 982.200378 meters looking forward 0.000000 meters along route
#   Maximum depth: 982.200378 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 932.200378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.774424;
longitude	   = -122.004872;
lastLatitude	   = 36.774280;
lastLongitude	   = -122.001757;
duration	   = 556;
# abortOnTimeout    = True;
initialDepth	   = 923.525360;
finalDepth	   = 932.200378;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  932.200378
#   Seafloor depth:	      -982.200378
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 17
#   Segment length 355.517099 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: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 923.525360 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	   = 36.773655;
lastLongitude	   = -121.997850;
duration	   = 711;
# abortOnTimeout    = True;
initialDepth	   = 902.676300;
finalDepth	   = 923.525360;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  923.52536
#   Seafloor depth:	      -973.525360
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 16
#   Segment length 193.428848 meters
#   Minimum depth: 952.676300 meters looking forward 0.000000 meters along route
#   Maximum depth: 952.676300 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 902.676300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.773655;
longitude	   = -121.997850;
lastLatitude	   = 36.773685;
lastLongitude	   = -121.995683;
duration	   = 386;
# abortOnTimeout    = True;
initialDepth	   = 896.785843;
finalDepth	   = 902.676300;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  902.6763
#   Seafloor depth:	      -952.676300
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 15
#   Segment length 158.116411 meters
#   Minimum depth: 946.785843 meters looking forward 0.000000 meters along route
#   Maximum depth: 946.785843 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 896.785843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.773685;
longitude	   = -121.995683;
lastLatitude	   = 36.774827;
lastLongitude	   = -121.994623;
duration	   = 316;
# abortOnTimeout    = True;
initialDepth	   = 903.375656;
finalDepth	   = 896.785843;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 3;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      7
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  896.785843
#   Seafloor depth:	      -946.785843
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
# 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 146.798428 meters
#   Minimum depth: 953.375656 meters looking forward 0.000000 meters along route
#   Maximum depth: 953.375656 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 903.375656 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.774827;
longitude	   = -121.994623;
duration	   = 293;
# abortOnTimeout    = True;
initialDepth	   = 893.039958;
finalDepth	   = 903.375656;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  903.375656
#   Seafloor depth:	      -953.375656
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 13
#   Segment length 637.412716 meters
#   Minimum depth: 943.039958 meters looking forward 0.000000 meters along route
#   Maximum depth: 943.039958 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 893.039958 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.775848;
longitude	   = -121.993577;
duration	   = 1274;
# abortOnTimeout    = True;
initialDepth	   = 893.868164;
finalDepth	   = 893.039958;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  893.039958
#   Seafloor depth:	      -943.039958
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 12
#   Segment length 571.520043 meters
#   Minimum depth: 943.868164 meters looking forward 0.000000 meters along route
#   Maximum depth: 943.868164 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 893.868164 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	   = 1143;
# abortOnTimeout    = True;
initialDepth	   = 939.127823;
finalDepth	   = 893.868164;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  893.868164
#   Seafloor depth:	      -943.868164
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
# 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 11
#   Segment length 204.750899 meters
#   Minimum depth: 989.127823 meters looking forward 0.000000 meters along route
#   Maximum depth: 989.127823 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 939.127823 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.775169;
longitude	   = -122.006971;
lastLatitude	   = 36.774424;
lastLongitude	   = -122.004872;
duration	   = 409;
# abortOnTimeout    = True;
initialDepth	   = 932.200378;
finalDepth	   = 939.127823;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  939.127823
#   Seafloor depth:	      -989.127823
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 10
#   Segment length 278.463036 meters
#   Minimum depth: 982.200378 meters looking forward 0.000000 meters along route
#   Maximum depth: 982.200378 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 932.200378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.774424;
longitude	   = -122.004872;
lastLatitude	   = 36.774280;
lastLongitude	   = -122.001757;
duration	   = 556;
# abortOnTimeout    = True;
initialDepth	   = 923.525360;
finalDepth	   = 932.200378;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  932.200378
#   Seafloor depth:	      -982.200378
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 9
#   Segment length 356.573877 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: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 923.525360 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	   = 36.773667;
lastLongitude	   = -121.997835;
duration	   = 713;
# abortOnTimeout    = True;
initialDepth	   = 904.717163;
finalDepth	   = 923.525360;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  923.52536
#   Seafloor depth:	      -973.525360
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 8
#   Segment length 192.071861 meters
#   Minimum depth: 954.717163 meters looking forward 0.000000 meters along route
#   Maximum depth: 954.717163 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 904.717163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.773667;
longitude	   = -121.997835;
lastLatitude	   = 36.773685;
lastLongitude	   = -121.995683;
duration	   = 384;
# abortOnTimeout    = True;
initialDepth	   = 896.785843;
finalDepth	   = 904.717163;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  904.717163
#   Seafloor depth:	      -954.717163
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 7
#   Segment length 221.189000 meters
#   Minimum depth: 946.785843 meters looking forward 0.000000 meters along route
#   Maximum depth: 946.785843 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 896.785843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.773685;
longitude	   = -121.995683;
lastLatitude	   = 36.774809;
lastLongitude	   = -121.993636;
duration	   = 442;
# abortOnTimeout    = True;
initialDepth	   = 901.245651;
finalDepth	   = 896.785843;
speed		   = SURVEY_SPEED;
maxCrossTrackError	    = 10;
starboardMaxCrossTrackError = 40;
standOff		    = 80;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      7
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  896.785843
#   Seafloor depth:	      -946.785843
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
# 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: 969.154556 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 901.245651 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	   = 415;
# abortOnTimeout    = True;
initialDepth	   = 895.598145;
finalDepth	   = 901.245651;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  901.245651
#   Seafloor depth:	      -951.245651
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# 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: 969.154556 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	   = 1089;
# abortOnTimeout    = True;
initialDepth	   = 863.532104;
finalDepth	   = 895.598145;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  895.598145
#   Seafloor depth:	      -945.598145
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# 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: 969.154556 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	   = 483;
# abortOnTimeout    = True;
initialDepth	   = 811.286102;
finalDepth	   = 863.532104;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  863.532104
#   Seafloor depth:	      -913.532104
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# 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: 969.154556 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	   = 416;
# abortOnTimeout    = True;
initialDepth	   = 760.603729;
finalDepth	   = 811.286102;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  811.286102
#   Seafloor depth:	      -861.286102
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# 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: 969.154556 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	   = 3720;
# abortOnTimeout    = True;
initialDepth	   = 298.363022;
finalDepth	   = 760.603729;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  760.603729
#   Seafloor depth:	      -810.603729
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# 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: 969.154556 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	   = 2079;
# abortOnTimeout    = True;
initialDepth	   = 55.294687;
finalDepth	   = 298.363022;
speed		   = SURVEY_SPEED;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  298.363022
#   Seafloor depth:	      -348.363022
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#
# 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  = RESON_DURATION;
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  = RESON_DURATION;
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: 969.154556 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		   = SURVEY_SPEED;
}
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Descend behavior
behavior descend
{
horizontalMode	 = heading;
horizontal   = 175.856373;
pitch	     = DESCENDPITCH;
speed	     = ASCENTDESCENT_SPEED;
maxDepth     = DESCENT_DEPTH;
minAltitude  = ALTITUDE_MIN;
duration     = DESCEND_DURATION;
}
#
# setpoint on surface to gather momentum
behavior setpoint
{
duration     = SETPOINT_DURATION;
heading      = 175.856373;
speed	     = ASCENTDESCENT_SPEED;
verticalMode = pitch;
pitch	     = 0;
}
#
# acquire gps fix
behavior getgps
{
duration = GPS_DURATION;
minHits = GPSMINHITS;
abortOnTimeout = True;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off
#
behavior reson
{
duration  = RESON_DURATION;
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;
}
#
#######################################################
#######################################################
#######################################################
#######################################################