# 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 Mar 25 16:27:30 PDT 2016>
#
# Program mbm_route2mission version:
#     : mbm_route2mission 2270 2016-03-25 02:15:32Z caress r
#
# Mission Summary:
#     Route File:		2016_WallTest_18v2.rte
#     Mission File:		2016_WallTest_18v2.cfg
#     Distance: 		10025.755382 (m)
#     Estimated Time:		8525 (s)  2.368 (hr)
#     Abort Time:		11082 (s)
#     Max battery life: 	68400 (s)
#     Safety margin:		1800 (s)
#     Ascend time:		1436 (s)
#     Way Points:		19
#     Route Points:		19
#     Survey Behaviors:
#	   Behavior for waypoint mode 0:   WaypointDepth
#	   Behavior for waypoint mode 1:   WaypointWall
#	   Behavior for waypoint mode 2:   WaypointWall
#	   Behavior for waypoint mode 3:   WaypointWall
#	   Behavior for waypoint mode 4:   WaypointWall
#     Descent style:		Waypoint descent
#     Mapping sonar control enabled:
#				Multibeam enabled
#				  Multibeam receive gain:	    20 dB
#				  Multibeam transmit gain:	    218 dB
#				  Multibeam pulse width:	    6e-05 usec
#				  Multibeam minimum range fraction: 0.3
#				  Multibeam maximum range fraction: 5.0
#				Subbottom disabled
#				Low sidescan disabled
#				High sidescan disabled
#     Benthic imaging camera control disabled:
#
# Mission Parameters:
#     Vehicle Survey Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 40 (m)
#     Abort Vehicle Altitude 1:   20 (m)
#     Delta Depth Restart 1:	  20 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   900 (m)
#     Constant Vehicle Depth 2:   900 (m)
#     Maximum Vehicle Depth:	  968.547201 (m)
#     Abort Vehicle Depth:	  988.547201 (m)
#     Descent Vehicle Depth:	  3 (m)
#     Waypoint Spacing: 	  2000 (m)
#     Maximum climb rate:	  36.0 (degrees)
#     GPS Duration:		  600 (s)
#     Descend Rate:		  0.417 (m/s)
#     Ascend Rate:		  1 (m/s)
#     Initial descend Duration:   300 (s)
#     Setpoint Duration:	  30 (s)
#
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.972032 36.798672 -105.294687 0.000000 3
#   1 -121.971315 36.789318 -348.363022 1039.711262 1
#   2 -121.982140 36.774989 -810.603729 2899.875273 1
#   3 -121.983664 36.773565 -861.286102 3108.338513 1
#   4 -121.985957 36.772405 -913.532104 3350.086294 1
#   5 -121.991306 36.774773 -945.598145 3894.984632 1
#   6 -121.993636 36.774809 -951.245651 4102.967752 9
#   7 -121.995653 36.773421 -927.689453 4339.902383 1
#   8 -122.007001 36.775091 -988.547201 5369.447830 3
#   9 -122.000703 36.776227 -943.799179 5945.471828 9
#   10 -121.995653 36.773421 -927.689453 6493.200715 1
#   11 -122.007001 36.775091 -988.547201 7522.746162 3
#   12 -121.995706 36.775253 -955.581055 8530.941473 9
#   13 -121.995676 36.773259 -929.771322 8752.218100 1
#   14 -121.997857 36.773217 -939.976888 8946.956357 1
#   15 -122.001802 36.773937 -955.173584 9307.954955 1
#   16 -122.004954 36.774160 -971.930745 9590.386386 1
#   17 -122.007083 36.774917 -987.343262 9798.130043 3
#   18 -122.006097 36.776809 -957.972931 10025.755382 4
#
# A total of 19 mission points have been defined.
#
# Define Mission parameters:

#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 11082;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth      = 0;
maxDepth      = 968.547201;
abortDepth    = 988.547201;
minAltitude   = 40.000000;
abortAltitude = 10.000000;
deltaDepthRestart = 20.000000;
}
#######################################################
# Set End-of-Mission Behaviors
#
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#
# ascend behavior
behavior ascend
{
duration  = 1436;
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 18
#   Segment length 227.625339 meters
#   Minimum depth: 957.972931 meters looking forward 0.000000 meters along route
#   Maximum depth: 957.972931 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 907.972931 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.776809;
longitude	   = -122.006097;
duration	   = 910;
# abortOnTimeout    = True;
initialDepth	   = 890;
finalDepth	   = 907.972931;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  907.972931
#   Seafloor depth:	      -957.972931
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
# behavior waypoint_wall_escape
# {
#   duration = 30;
#   depth = 890;
#   speed = 1.500000;
#   distance = 10;
#   wallAbsentTime = 70;
# }
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 11
#   Segment length 1029.545447 meters
#   Minimum depth: 988.547201 meters looking forward 0.000000 meters along route
#   Maximum depth: 988.547201 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 938.547201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# behavior waypoint_wall
# {
# latitude	   = 36.775091;
# longitude	   = -122.007001;
# lastLatitude	   = 36.773421;
# lastLongitude	   = -121.995653;
# duration	   = 4118;
# # abortOnTimeout    = True;
# initialDepth	   = 900.000000;
# finalDepth	   = 938.547201;
# speed		   = 1.500000;
# maxCrossTrackError	    = 10;
# starboardMaxCrossTrackError = 40;
# standOff		    = 80;
# sonarTimeOut		    = 2;
# useWallEstimator	    = True;
# filterType		    = 1;
# }
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       55.581055
#   Actual altitude:	      55.581055
#   Commanded vehicle depth:  938.547201
#   Seafloor depth:	      -988.547201
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 16.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 10
#   Segment length 547.728887 meters
#   Minimum depth: 927.689453 meters looking forward 0.000000 meters along route
#   Maximum depth: 927.689453 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.773421;
longitude	   = -121.995653;
lastLatitude	   = 36.776227;
lastLongitude	   = -122.000703;
#duration	   = 2190;
duration	   = 915;
# abortOnTimeout    = True;
initialDepth	   = 890;
finalDepth	   = 890;
speed		   = 1.500000;
#maxCrossTrackError	    = 10;
#starboardMaxCrossTrackError = 40;
standOff		    = 30;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 3;
waypointPriority = 0;
wallAbsentTime              = 60;
reinitFilter       = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -927.689453
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 9
#   Segment length 576.023998 meters
#   Minimum depth: 943.799179 meters looking forward 0.000000 meters along route
#   Maximum depth: 943.799179 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.776227;
longitude	   = -122.000703;
duration	   = 2304;
# abortOnTimeout    = True;
initialDepth	   = 890;
finalDepth	   = 890;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       43.799179
#   Actual altitude:	      43.799179
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -943.799179
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 13.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
# behavior waypoint_wall_escape
# {
#   duration = 30;
#   depth = 890;
#   speed = 1.500000;
#   distance = 10;
#   wallAbsentTime = 70;
# }
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 8
#   Segment length 1029.545447 meters
#   Minimum depth: 988.547201 meters looking forward 0.000000 meters along route
#   Maximum depth: 988.547201 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 938.547201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# behavior waypoint_wall
# {
# latitude	   = 36.775091;
# longitude	   = -122.007001;
# lastLatitude	   = 36.773421;
# lastLongitude	   = -121.995653;
# duration	   = 4118;
# # abortOnTimeout    = True;
# initialDepth	   = 900.000000;
# finalDepth	   = 938.547201;
# speed		   = 1.500000;
# maxCrossTrackError	    = 10;
# starboardMaxCrossTrackError = 40;
# standOff		    = 80;
# sonarTimeOut		    = 2;
# useWallEstimator	    = True;
# filterType		    = 1;
# }
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  938.547201
#   Seafloor depth:	      -988.547201
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 7
#   Segment length 236.934631 meters
#   Minimum depth: 927.689453 meters looking forward 0.000000 meters along route
#   Maximum depth: 927.689453 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.773421;
longitude	   = -121.995653;
lastLatitude	   = 36.774809;
lastLongitude	   = -121.993636;
#duration	   = 947;
duration	   = 720;
# abortOnTimeout    = True;
initialDepth	   = 890.000000;
finalDepth	   = 890.000000;
speed		   = 1.500000;
#maxCrossTrackError	    = 10;
#starboardMaxCrossTrackError = 40;
standOff		    = 50;
sonarTimeOut		    = 2;
useWallEstimator	    = True;
filterType		    = 3;
wallAbsentTime              = 60;
waypointPriority = 0;
reinitFilter       = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -927.689453
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_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: 968.547201 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.774809;
longitude	   = -121.993636;
duration	   = 831;
# abortOnTimeout    = True;
initialDepth	   = 895.598145;
finalDepth	   = 890.000000;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       51.245651
#   Actual altitude:	      51.245651
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -951.245651
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 5
#   Segment length 544.898338 meters
#   Minimum depth: 945.598145 meters looking forward 0.000000 meters along route
#   Maximum depth: 945.598145 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 895.598145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.774773;
longitude	   = -121.991306;
duration	   = 2179;
# abortOnTimeout    = True;
initialDepth	   = 863.532104;
finalDepth	   = 895.598145;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       51.245651
#   Actual altitude:	      51.245651
#   Commanded vehicle depth:  895.598145
#   Seafloor depth:	      -945.598145
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 4
#   Segment length 241.747781 meters
#   Minimum depth: 913.532104 meters looking forward 0.000000 meters along route
#   Maximum depth: 913.532104 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 863.532104 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.772405;
longitude	   = -121.985957;
duration	   = 966;
# abortOnTimeout    = True;
initialDepth	   = 811.286102;
finalDepth	   = 863.532104;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  863.532104
#   Seafloor depth:	      -913.532104
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 3
#   Segment length 208.463240 meters
#   Minimum depth: 861.286102 meters looking forward 0.000000 meters along route
#   Maximum depth: 861.286102 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.286102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.773565;
longitude	   = -121.983664;
duration	   = 833;
# abortOnTimeout    = True;
initialDepth	   = 760.603729;
finalDepth	   = 811.286102;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  811.286102
#   Seafloor depth:	      -861.286102
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 2
#   Segment length 1860.164011 meters
#   Minimum depth: 810.603729 meters looking forward 0.000000 meters along route
#   Maximum depth: 810.603729 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 760.603729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.774989;
longitude	   = -121.982140;
duration	   = 7440;
# abortOnTimeout    = True;
initialDepth	   = 298.363022;
finalDepth	   = 760.603729;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  760.603729
#   Seafloor depth:	      -810.603729
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 1
#   Segment length 1039.711262 meters
#   Minimum depth: 348.363022 meters looking forward 0.000000 meters along route
#   Maximum depth: 348.363022 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 298.363022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.789318;
longitude	   = -121.971315;
duration	   = 4158;
# abortOnTimeout    = True;
initialDepth	   = 55.294687;
finalDepth	   = 298.363022;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  298.363022
#   Seafloor depth:	      -348.363022
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#######################################################
# Turn Mapping sonars on and start logging.
#
behavior reson
{
duration  = 6;
Log_Mode  = 2;
}
# Set sonar parameters
#   Waypoint type:	      3
#   Commanded altitude:       50
#   Sonar parameter altitude: 50
#   Commanded vehicle depth:  55.294687
#   Seafloor depth:	      -105.294687
#
behavior reson
{
duration  = 6;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
#
#######################################################
#
# Waypoint behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 105.294687 meters looking forward 0.000000 meters along route
#   Maximum depth: 105.294687 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 968.547201 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.294687 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude     = 36.798672;
longitude    = -121.972032;
duration	   = 600;
depth	     = 55.294687;
speed		   = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#
#######################################################
#######################################################
#
#
# Descend behavior
behavior descend
{
horizontalMode	 = heading;
horizontal   = 220.0;
pitch	     = -35.000000;
speed	     = 1.500000;
maxDepth     = 3.000000;
minAltitude  = 40.000000;
duration     = 300;
}
#
# setpoint on surface to gather momentum
behavior setpoint
{
duration     = 30;
heading      = 220.0;
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 = 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;
}
#
#######################################################
#######################################################
#######################################################
#######################################################