# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <tharp> at <Mon Sep 28 13:47:50 PDT 2015>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2238 2015-04-15 06:00:52Z caress r
# 
# Mission Summary:
#     Route File:               NewMAUVTest_m3v1.rte
#     Mission File:             NewMAUVTest_m3v1.cfg
#     Distance:                 5998.780069 (m)
#     Estimated Time:           4972 (s)  1.381 (hr)
#     Abort Time:               6463 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               13
#     Route Points:             13
#     Survey Behaviors:
#          Behavior for waypoint mode 0:   WaypointDepth
#          Behavior for waypoint mode 1:   WaypointDepth
#          Behavior for waypoint mode 2:   WaypointDepth
#          Behavior for waypoint mode 3:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           30 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            6e-05 usec
#                                 Multibeam minimum range fraction: 0.3
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan enabled
#     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:      76.307136 (m)
#     Abort Vehicle Depth:        96.307136 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   50 (m)
#     Waypoint Spacing:           500 (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 -121.871849 36.777813 -96.909475 0.000000 3
#   1 -121.866324 36.777843 -85.485209 493.131991 3
#   2 -121.866324 36.773246 -80.323995 1003.115123 3
#   3 -121.871812 36.773246 -89.636047 1492.933111 3
#   4 -121.871849 36.777813 -96.909475 1999.593356 3
#   5 -121.871812 36.773246 -89.636047 2506.253601 3
#   6 -121.866324 36.773246 -80.323995 2996.071589 3
#   7 -121.866324 36.777843 -85.485209 3506.054722 3
#   8 -121.871849 36.777813 -96.909475 3999.186713 3
#   9 -121.866324 36.777843 -85.485209 4492.318704 3
#   10 -121.866324 36.773246 -80.323995 5002.301836 3
#   11 -121.871812 36.773246 -89.636047 5492.119824 3
#   12 -121.871849 36.777813 -96.909475 5998.780069 4
# 
# A total of 13 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 3600;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 76.307136;
abortDepth = 96.307136;
minAltitude = 40.000000;
abortAltitude = 20.000000;
deltaDepthRestart = 20.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
# 
# Acoustic update 1 - sent status ping after end of survey 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Turn off power to sonars and stop logging on the PLC 
# by setting the value of the mode attribute to 0 (used to be False). 
behavior reson
{
duration = 6;
MB_Power = 0;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode = 0;
}
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 506.660245 meters
#   Minimum depth: 89.623603 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.909475 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 39.623603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777813;
longitude = -121.871849;
duration = 1013;
# abortOnTimeout    = True; 
initialDepth = 30.456001;
finalDepth = 39.623603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.285872
#   Actual altitude:          57.285872
#   Commanded vehicle depth:  39.623603 
#   Seafloor depth:           -96.909475
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 17.19;
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 11
#   Segment length 489.817988 meters
#   Minimum depth: 80.456001 meters looking forward 50.000000 meters along route
#   Maximum depth: 89.636047 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 30.456001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773246;
longitude = -121.871812;
duration = 979;
# abortOnTimeout    = True; 
initialDepth = 30.323995;
finalDepth = 30.456001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.180046
#   Actual altitude:          59.180046
#   Commanded vehicle depth:  30.456001 
#   Seafloor depth:           -89.636047
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 35;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 17.75;
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 10
#   Segment length 509.983132 meters
#   Minimum depth: 80.323995 meters looking forward 50.000000 meters along route
#   Maximum depth: 85.416214 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 30.323995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773246;
longitude = -121.866324;
duration = 1019;
# abortOnTimeout    = True; 
initialDepth = 35.485209;
finalDepth = 30.323995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.180046
#   Actual altitude:          59.180046
#   Commanded vehicle depth:  30.323995 
#   Seafloor depth:           -80.323995
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 17.75;
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 9
#   Segment length 493.131991 meters
#   Minimum depth: 85.485209 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.804021 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 35.485209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777843;
longitude = -121.866324;
duration = 986;
# abortOnTimeout    = True; 
initialDepth = 35.683769;
finalDepth = 35.485209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  35.485209 
#   Seafloor depth:           -85.485209
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 25;
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 493.131991 meters
#   Minimum depth: 85.683769 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.909475 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 35.683769 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777813;
longitude = -121.871849;
duration = 986;
# abortOnTimeout    = True; 
initialDepth = 30.345566;
finalDepth = 35.683769;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       61.225706
#   Actual altitude:          61.225706
#   Commanded vehicle depth:  35.683769 
#   Seafloor depth:           -96.909475
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.37;
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 7
#   Segment length 509.983133 meters
#   Minimum depth: 80.345566 meters looking forward 50.000000 meters along route
#   Maximum depth: 85.485209 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 30.345566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777843;
longitude = -121.866324;
duration = 1019;
# abortOnTimeout    = True; 
initialDepth = 30.323995;
finalDepth = 30.345566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       61.225706
#   Actual altitude:          61.225706
#   Commanded vehicle depth:  30.345566 
#   Seafloor depth:           -85.485209
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 15;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.37;
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 489.817988 meters
#   Minimum depth: 80.323995 meters looking forward 50.000000 meters along route
#   Maximum depth: 89.539558 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 30.323995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773246;
longitude = -121.866324;
duration = 979;
# abortOnTimeout    = True; 
initialDepth = 39.636047;
finalDepth = 30.323995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.139643
#   Actual altitude:          55.139643
#   Commanded vehicle depth:  30.323995 
#   Seafloor depth:           -80.323995
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 40;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.54;
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 5
#   Segment length 506.660245 meters
#   Minimum depth: 89.636047 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.840283 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 39.636047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773246;
longitude = -121.871812;
duration = 1013;
# abortOnTimeout    = True; 
initialDepth = 39.623603;
finalDepth = 39.636047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  39.636047 
#   Seafloor depth:           -89.636047
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 35;
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 4
#   Segment length 506.660245 meters
#   Minimum depth: 89.623603 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.909475 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 39.623603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777813;
longitude = -121.871849;
duration = 1013;
# abortOnTimeout    = True; 
initialDepth = 30.456001;
finalDepth = 39.623603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.285872
#   Actual altitude:          57.285872
#   Commanded vehicle depth:  39.623603 
#   Seafloor depth:           -96.909475
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 30;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.19;
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 3
#   Segment length 489.817988 meters
#   Minimum depth: 80.456001 meters looking forward 50.000000 meters along route
#   Maximum depth: 89.636047 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 30.456001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773246;
longitude = -121.871812;
duration = 979;
# abortOnTimeout    = True; 
initialDepth = 30.323995;
finalDepth = 30.456001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.180046
#   Actual altitude:          59.180046
#   Commanded vehicle depth:  30.456001 
#   Seafloor depth:           -89.636047
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 25;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.75;
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 2
#   Segment length 509.983132 meters
#   Minimum depth: 80.323995 meters looking forward 50.000000 meters along route
#   Maximum depth: 85.416214 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 30.323995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773246;
longitude = -121.866324;
duration = 1019;
# abortOnTimeout    = True; 
initialDepth = 35.485209;
finalDepth = 30.323995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.180046
#   Actual altitude:          59.180046
#   Commanded vehicle depth:  30.323995 
#   Seafloor depth:           -80.323995
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
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 = 17.75;
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 1
#   Segment length 493.131991 meters
#   Minimum depth: 85.485209 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.804021 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 35.485209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777843;
longitude = -121.866324;
duration = 986;
# abortOnTimeout    = True; 
initialDepth = 46.307136;
finalDepth = 35.485209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  35.485209 
#   Seafloor depth:           -85.485209
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 15;
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 = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.602339
#   Sonar parameter altitude: 50.602339
#   Commanded vehicle depth:  46.307136 
#   Seafloor depth:           -96.909475
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
HiSS_Mode = 1;
HiSS_Power = 100.0;
HiSS_Range = 200;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 15;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
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: 96.307136 meters looking forward 50.000000 meters along route
#   Maximum depth: 96.909475 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 76.307136 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.307136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.777813;
longitude = -121.871849;
duration = 600;
depth = 46.307136;
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 = 88.935568;
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 = 88.935568;
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 = 30;
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;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
