# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <rob> on cpu <whitebirdauv> at <Tue Mar 28 15:18:18 PDT 2017>
#
# Program mbm_route2mission version:
#     : mbm_route2mission 2292 2017-01-30 18:11:01Z caress r
#
# Mission Summary:
#     Route File:		TrnTestSouth2Laps.rte
#     Mission File:		TrnTestSouth2Laps.cfg
#     Distance: 		7775.791061 (m)
#     Estimated Time:		7017 (s)  1.949 (hr)
#     Abort Time:		10525 (s)
#     Max battery life: 	68400 (s)
#     Safety margin:		1800 (s)
#     Ascend time:		1473 (s)
#     Way Points:		16
#     Route Points:		16
#     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:   WaypointWall
#	   Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:		Waypoint descent
#     Mapping sonar control enabled:
#				Multibeam enabled
#				  Multibeam receive gain:	    33 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: 30 (m)
#     Abort Vehicle Altitude 1:   10 (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:	  935 (m)
#     Abort Vehicle Depth:	  950 (m)
#     Descent Vehicle Depth:	  3 (m)
#     Waypoint Spacing: 	  1500 (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 -121.972032 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 -121.996460 36.773547 -942.791092 4391.278626 1
#   8 -122.002496 36.774064 -976.870041 4933.022526 1
#   9 -122.007158 36.774875 -978.257309 5358.708101 1
#   10 -122.006172 36.776064 -978.047770 5517.311870 1
#   11 -121.995317 36.775007 -953.225505 6493.103904 1
#   12 -121.996468 36.773559 -943.766113 6683.746529 1
#   13 -122.002511 36.774070 -976.811768 7226.086277 1
#   14 -122.007150 36.774881 -975.262939 7649.777307 1
#   15 -122.007001 36.776010 -982.662109 7775.791061 10
#
# A total of 16 mission points have been defined.
#
# Define Mission parameters:

#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 10525;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth      = 0;
maxDepth      = 935.000000;
abortDepth    = 950.000000;
minAltitude   = 30.000000;
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  = 1473;
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_wall behavior to get to end of line 15
#   Segment length 126.013754 meters
#   Minimum depth: 982.662109 meters looking forward 0.000000 meters along route
#   Maximum depth: 982.662109 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# latitude	   = 36.776010;
# longitude	   = -122.007001;
# lastLatitude	   = 36.774881;
# lastLongitude	   = -122.007150;
behavior waypoint_wall
{
initialBearing     = 355;
initialDistance    = 200;
duration	   = 600;
initialDepth	   = 900.000000;
finalDepth	   = 900.;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 50;
sonarTimeOut       = 5;
waypointPriority   = 2;
}
behavior waypoint_wall
{
escape = True;
escapeDistance = 10;
duration = 8;
speed = 1.500000;
wallAbsentTime = 70;
standOff = 50;
sonarTimeOut = 5;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       82.662109
#   Actual altitude:	      82.662109
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -982.662109
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 24.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 14
#   Segment length 423.691030 meters
#   Minimum depth: 975.262939 meters looking forward 0.000000 meters along route
#   Maximum depth: 975.262939 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# latitude	   = 36.774881;
# longitude	   = -122.007150;
behavior waypoint_wall
{
latitude	   = 36.774875;
longitude	   = -122.007158;
lastLatitude	   = 36.774070;
lastLongitude	   = -122.002511;
duration	   = 150;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 30;
sonarTimeOut       = 5;
maxCrossTrackError = 200;
waypointPriority   = 1;
runIfTrnConv       = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       82.662109
#   Actual altitude:	      82.662109
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -975.262939
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 24.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 13
#   Segment length 542.339748 meters
#   Minimum depth: 976.811768 meters looking forward 0.000000 meters along route
#   Maximum depth: 976.811768 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# latitude	   = 36.774070;
# longitude	   = -122.002511;
behavior waypoint_wall
{
latitude	   = 36.774064;
longitude	   = -122.002496;
lastLatitude	   = 36.773559;
lastLongitude	   = -121.996468;
duration	   = 500;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 50;
sonarTimeOut       = 5;
maxCrossTrackError = 200;
waypointPriority   = 1;
runIfTrnConv       = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       76.811768
#   Actual altitude:	      76.811768
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -976.811768
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 23.04;
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 12
#   Segment length 190.642625 meters
#   Minimum depth: 943.766113 meters looking forward 0.000000 meters along route
#   Maximum depth: 943.766113 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# latitude	   = 36.773559;
# longitude	   = -121.996468;
# lastLatitude	   = 36.775007;
# lastLongitude	   = -121.995317;
behavior waypoint_wall
{
initialBearing    = 240;
initialDistance   = 287;
duration	   = 870;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 50;
sonarTimeOut       = 5;
waypointPriority   = 0;
termIfTrnConv      = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       76.811768
#   Actual altitude:	      76.811768
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -943.766113
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 23.04;
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 11
#   Segment length 975.792034 meters
#   Minimum depth: 953.225505 meters looking forward 0.000000 meters along route
#   Maximum depth: 953.225505 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# lastLatitude	   = 36.776064;
# lastLongitude	   = -122.006172;
behavior waypoint_wall
{
latitude	   = 36.775007;
longitude	   = -121.995317;
duration	   = 1100;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 50;
sonarTimeOut       = 5;
waypointPriority   = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       53.225505
#   Actual altitude:	      53.225505
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -953.225505
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.97;
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 158.603769 meters
#   Minimum depth: 978.047770 meters looking forward 0.000000 meters along route
#   Maximum depth: 978.047770 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# latitude	   = 36.776064;
# longitude	   = -122.006172;
# lastLatitude	   = 36.774875;
# lastLongitude	   = -122.007158;
behavior waypoint_wall
{
initialBearing     = 355;
initialDistance    = 200;
duration	   = 600;
initialDepth	   = 900.000000;
finalDepth	   = 900.;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 50;
sonarTimeOut       = 5;
waypointPriority   = 2;
}
behavior waypoint_wall
{
escape = True;
escapeDistance = 10;
duration = 8;
speed = 1.500000;
wallAbsentTime = 70;
standOff = 50;
sonarTimeOut = 5;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       78.04777
#   Actual altitude:	      78.04777
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -978.047770
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 23.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 9
#   Segment length 425.685575 meters
#   Minimum depth: 978.257309 meters looking forward 0.000000 meters along route
#   Maximum depth: 978.257309 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# latitude	   = 36.774875;
# longitude	   = -122.007158;
behavior waypoint_wall
{
latitude	   = 36.774875;
longitude	   = -122.007158;
lastLatitude	   = 36.774064;
lastLongitude	   = -122.002496;
duration	   = 150;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 30;
sonarTimeOut       = 5;
maxCrossTrackError = 200;
waypointPriority   = 1;
runIfTrnConv       = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       78.257309
#   Actual altitude:	      78.257309
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -978.257309
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 23.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 8
#   Segment length 541.743900 meters
#   Minimum depth: 976.870041 meters looking forward 0.000000 meters along route
#   Maximum depth: 976.870041 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# latitude	   = 36.774064;
# longitude	   = -122.002496;
behavior waypoint_wall
{
latitude	   = 36.774064;
longitude	   = -122.002496;
lastLatitude	   = 36.773547;
lastLongitude	   = -121.996460;
duration	   = 500;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 50;
sonarTimeOut       = 5;
maxCrossTrackError = 200;
waypointPriority   = 1;
runIfTrnConv       = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       78.257309
#   Actual altitude:	      78.257309
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -976.870041
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 23.48;
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 288.310874 meters
#   Minimum depth: 942.791092 meters looking forward 0.000000 meters along route
#   Maximum depth: 942.791092 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
# latitude	   = 36.773547;
# longitude	   = -121.996460;
# lastLatitude	   = 36.774809;
# lastLongitude	   = -121.993636;
behavior waypoint_wall
{
initialBearing    = 240;
initialDistance   = 287;
duration	   = 870;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime     = 120;
standOff           = 50;
sonarTimeOut       = 5;
waypointPriority   = 0;
termIfTrnConv      = True;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       76.870041
#   Actual altitude:	      76.870041
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -942.791092
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 23.06;
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: 935.000000 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.774809;
longitude	   = -121.993636;
duration	   = 831;
# abortOnTimeout    = True;
initialDepth	   = 895.598145;
finalDepth	   = 900.000000;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       51.245651
#   Actual altitude:	      51.245651
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -951.245651
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
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: 935.000000 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 30.000000 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_Sound_Velocity = 0.0;
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: 935.000000 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 30.000000 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_Sound_Velocity = 0.0;
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: 935.000000 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 30.000000 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_Sound_Velocity = 0.0;
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: 935.000000 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 30.000000 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_Sound_Velocity = 0.0;
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: 935.000000 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 30.000000 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_Sound_Velocity = 0.0;
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 = 33;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
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: 935.000000 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 30.000000 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   = 290.0;
pitch	     = -35.000000;
speed	     = 1.500000;
maxDepth     = 3.000000;
minAltitude  = 30.000000;
duration     = 300;
}
#
# setpoint on surface to gather momentum
behavior setpoint
{
duration     = 30;
heading      = 290.0;
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 = 33;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
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;
}
#
#######################################################
#######################################################
#######################################################
#######################################################