# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <heezen> at <Wed Feb 22 15:42:20 PST 2017>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2292 2017-01-30 18:11:01Z caress r
# 
# Mission Summary:
#     Route File:               20170222MultibeamGainTest.rte
#     Mission File:             20170222MultibeamGainTest.cfg
#     Distance:                 3891.413973 (m)
#     Estimated Time:           3929 (s)  1.092 (hr)
#     Abort Time:               5894 (s)
#     Max battery life:         68400 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              678 (s)
#     Way Points:               8
#     Route Points:             36
#     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:           33 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            3.3e-05 usec
#                                 Multibeam minimum range fraction: 0.6
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               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: 50 (m)
#     Abort Vehicle Altitude 1:   20 (m)
#     Delta Depth Restart 1:      30 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 75 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      427.645243 (m)
#     Abort Vehicle Depth:        452.645243 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   200 (m)
#     Waypoint Spacing:           100 (m)
#     Maximum climb rate:         20 (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 -121.889483 36.808342 -88.041128 0.000000 3
#   1 -121.891275 36.800231 -302.125366 913.976229 1
#   2 -121.892620 36.794913 -450.420573 1515.965954 3
#   3 -121.896466 36.797948 -476.022705 1996.686811 3
#   4 -121.892657 36.794883 -450.374471 2477.385924 3
#   5 -121.896354 36.797948 -475.996908 2951.070656 3
#   6 -121.892732 36.794913 -450.450928 3417.729337 3
#   7 -121.896429 36.797978 -476.084757 3891.413973 4
# 
# A total of 36 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 5894;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 427.645243;
abortDepth = 452.645243;
minAltitude = 50.000000;
abortAltitude = 20.000000;
deltaDepthRestart = 30.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 678;
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 7
#   Segment length 162.678511 meters
#   Minimum depth: 452.349333 meters looking forward 200.000000 meters along route
#   Maximum depth: 476.084757 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 402.349333 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797978;
longitude = -121.896429;
duration = 650;
# abortOnTimeout    = True; 
initialDepth = 397.675069;
finalDepth = 402.349333;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.735424
#   Actual altitude:          73.735424
#   Commanded vehicle depth:  402.349333 
#   Seafloor depth:           -476.084757
# 
behavior reson
{
duration = 6;
MB_Gain = 33;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.478459 meters
#   Minimum depth: 447.675069 meters looking forward 200.000000 meters along route
#   Maximum depth: 468.224027 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 397.675069 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796925;
longitude = -121.895159;
duration = 401;
initialDepth = 390.964573;
finalDepth = 397.675069;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.735424
#   Actual altitude:          73.735424
#   Commanded vehicle depth:  397.675069 
#   Seafloor depth:           -452.340296
# 
behavior reson
{
duration = 6;
MB_Gain = 33;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 108.359596 meters
#   Minimum depth: 440.964573 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.633471 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.964573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796275;
longitude = -121.894375;
duration = 433;
initialDepth = 390.964573;
finalDepth = 390.964573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.039208
#   Actual altitude:          58.039208
#   Commanded vehicle depth:  390.964573 
#   Seafloor depth:           -449.003781
# 
behavior reson
{
duration = 6;
MB_Gain = 33;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 102.168070 meters
#   Minimum depth: 440.964573 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.470604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.964573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795574;
longitude = -121.893529;
duration = 408;
initialDepth = 390.909688;
finalDepth = 390.964573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.039208
#   Actual altitude:          58.039208
#   Commanded vehicle depth:  390.964573 
#   Seafloor depth:           -443.954940
# 
behavior reson
{
duration = 6;
MB_Gain = 33;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.82;
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 153.950259 meters
#   Minimum depth: 440.909688 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.471222 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.909688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794913;
longitude = -121.892732;
duration = 615;
# abortOnTimeout    = True; 
initialDepth = 390.909688;
finalDepth = 390.909688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.54124
#   Actual altitude:          59.54124
#   Commanded vehicle depth:  390.909688 
#   Seafloor depth:           -450.450928
# 
behavior reson
{
duration = 6;
MB_Gain = 40;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 101.029320 meters
#   Minimum depth: 440.909688 meters looking forward 200.000000 meters along route
#   Maximum depth: 449.282112 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.909688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795914;
longitude = -121.893927;
duration = 404;
initialDepth = 396.014027;
finalDepth = 390.909688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.54124
#   Actual altitude:          59.54124
#   Commanded vehicle depth:  390.909688 
#   Seafloor depth:           -443.280938
# 
behavior reson
{
duration = 6;
MB_Gain = 40;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 110.031449 meters
#   Minimum depth: 446.014027 meters looking forward 200.000000 meters along route
#   Maximum depth: 461.428338 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 396.014027 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796571;
longitude = -121.894711;
duration = 440;
initialDepth = 400.260143;
finalDepth = 396.014027;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.361917
#   Actual altitude:          53.361917
#   Commanded vehicle depth:  396.014027 
#   Seafloor depth:           -449.375944
# 
behavior reson
{
duration = 6;
MB_Gain = 40;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 101.647653 meters
#   Minimum depth: 450.260143 meters looking forward 200.000000 meters along route
#   Maximum depth: 475.811872 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 400.260143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797287;
longitude = -121.895565;
duration = 406;
initialDepth = 402.645243;
finalDepth = 400.260143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.3742
#   Actual altitude:          63.3742
#   Commanded vehicle depth:  400.260143 
#   Seafloor depth:           -463.634343
# 
behavior reson
{
duration = 6;
MB_Gain = 40;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 167.463224 meters
#   Minimum depth: 452.645243 meters looking forward 200.000000 meters along route
#   Maximum depth: 475.996908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 402.645243 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797948;
longitude = -121.896354;
duration = 669;
# abortOnTimeout    = True; 
initialDepth = 397.577954;
finalDepth = 402.645243;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.351665
#   Actual altitude:          73.351665
#   Commanded vehicle depth:  402.645243 
#   Seafloor depth:           -475.996908
# 
behavior reson
{
duration = 6;
MB_Gain = 45;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.478499 meters
#   Minimum depth: 447.577954 meters looking forward 200.000000 meters along route
#   Maximum depth: 466.069101 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 397.577954 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796864;
longitude = -121.895047;
duration = 401;
initialDepth = 390.766594;
finalDepth = 397.577954;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.351665
#   Actual altitude:          73.351665
#   Commanded vehicle depth:  397.577954 
#   Seafloor depth:           -452.143019
# 
behavior reson
{
duration = 6;
MB_Gain = 45;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.478922 meters
#   Minimum depth: 440.766594 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.983923 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.766594 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796214;
longitude = -121.894263;
duration = 401;
initialDepth = 390.766594;
finalDepth = 390.766594;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.265665
#   Actual altitude:          58.265665
#   Commanded vehicle depth:  390.766594 
#   Seafloor depth:           -449.032259
# 
behavior reson
{
duration = 6;
MB_Gain = 45;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 105.264087 meters
#   Minimum depth: 440.766594 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.533005 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.766594 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795564;
longitude = -121.893479;
duration = 421;
initialDepth = 390.930634;
finalDepth = 390.766594;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.265665
#   Actual altitude:          58.265665
#   Commanded vehicle depth:  390.766594 
#   Seafloor depth:           -444.240611
# 
behavior reson
{
duration = 6;
MB_Gain = 45;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 164.946884 meters
#   Minimum depth: 440.930634 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.533005 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.930634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794883;
longitude = -121.892657;
duration = 659;
# abortOnTimeout    = True; 
initialDepth = 390.930634;
finalDepth = 390.930634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.443837
#   Actual altitude:          59.443837
#   Commanded vehicle depth:  390.930634 
#   Seafloor depth:           -450.374471
# 
behavior reson
{
duration = 6;
MB_Gain = 50;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 108.393035 meters
#   Minimum depth: 440.930634 meters looking forward 200.000000 meters along route
#   Maximum depth: 449.295848 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.930634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795935;
longitude = -121.893964;
duration = 433;
initialDepth = 396.484629;
finalDepth = 390.930634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.443837
#   Actual altitude:          59.443837
#   Commanded vehicle depth:  390.930634 
#   Seafloor depth:           -443.870951
# 
behavior reson
{
duration = 6;
MB_Gain = 50;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.679826 meters
#   Minimum depth: 446.484629 meters looking forward 200.000000 meters along route
#   Maximum depth: 463.518962 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 396.484629 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796626;
longitude = -121.894823;
duration = 414;
initialDepth = 400.718068;
finalDepth = 396.484629;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.429016
#   Actual altitude:          53.429016
#   Commanded vehicle depth:  396.484629 
#   Seafloor depth:           -449.913645
# 
behavior reson
{
duration = 6;
MB_Gain = 50;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.679368 meters
#   Minimum depth: 450.718068 meters looking forward 200.000000 meters along route
#   Maximum depth: 476.015350 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 400.718068 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797287;
longitude = -121.895645;
duration = 414;
initialDepth = 402.337897;
finalDepth = 400.718068;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.4628
#   Actual altitude:          63.4628
#   Commanded vehicle depth:  400.718068 
#   Seafloor depth:           -464.180868
# 
behavior reson
{
duration = 6;
MB_Gain = 50;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.08;
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 3
#   Segment length 163.350632 meters
#   Minimum depth: 452.337897 meters looking forward 200.000000 meters along route
#   Maximum depth: 476.022705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 402.337897 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797948;
longitude = -121.896466;
duration = 653;
# abortOnTimeout    = True; 
initialDepth = 397.625272;
finalDepth = 402.337897;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.684808
#   Actual altitude:          73.684808
#   Commanded vehicle depth:  402.337897 
#   Seafloor depth:           -476.022705
# 
behavior reson
{
duration = 6;
MB_Gain = 55;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 112.012525 meters
#   Minimum depth: 447.625272 meters looking forward 200.000000 meters along route
#   Maximum depth: 466.398118 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 397.625272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796916;
longitude = -121.895159;
duration = 448;
initialDepth = 390.821607;
finalDepth = 397.625272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.684808
#   Actual altitude:          73.684808
#   Commanded vehicle depth:  397.625272 
#   Seafloor depth:           -452.242957
# 
behavior reson
{
duration = 6;
MB_Gain = 55;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.645379 meters
#   Minimum depth: 440.821607 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.618429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.821607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796209;
longitude = -121.894263;
duration = 402;
initialDepth = 390.821607;
finalDepth = 390.821607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2016630000001
#   Actual altitude:          58.2016630000001
#   Commanded vehicle depth:  390.821607 
#   Seafloor depth:           -449.023270
# 
behavior reson
{
duration = 6;
MB_Gain = 55;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 104.712321 meters
#   Minimum depth: 440.821607 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.558280 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.821607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795574;
longitude = -121.893458;
duration = 418;
initialDepth = 393.929493;
finalDepth = 390.821607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.2016630000001
#   Actual altitude:          58.2016630000001
#   Commanded vehicle depth:  390.821607 
#   Seafloor depth:           -444.189755
# 
behavior reson
{
duration = 6;
MB_Gain = 55;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.92;
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 2
#   Segment length 85.026856 meters
#   Minimum depth: 443.929493 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.558280 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 393.929493 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794913;
longitude = -121.892620;
duration = 340;
# abortOnTimeout    = True; 
initialDepth = 378.312280;
finalDepth = 393.929493;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.49108
#   Actual altitude:          56.49108
#   Commanded vehicle depth:  393.929493 
#   Seafloor depth:           -450.420573
# 
behavior reson
{
duration = 6;
MB_Gain = 60;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.032202 meters
#   Minimum depth: 428.312280 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.558280 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 378.312280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795664;
longitude = -121.892430;
duration = 408;
initialDepth = 365.649352;
finalDepth = 378.312280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.793888
#   Actual altitude:          67.793888
#   Commanded vehicle depth:  378.31228 
#   Seafloor depth:           -446.106168
# 
behavior reson
{
duration = 6;
MB_Gain = 60;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.032174 meters
#   Minimum depth: 415.649352 meters looking forward 200.000000 meters along route
#   Maximum depth: 445.180940 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 365.649352 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796566;
longitude = -121.892202;
duration = 408;
initialDepth = 338.062584;
finalDepth = 365.649352;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.793888
#   Actual altitude:          67.793888
#   Commanded vehicle depth:  365.649352 
#   Seafloor depth:           -426.930416
# 
behavior reson
{
duration = 6;
MB_Gain = 60;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.032146 meters
#   Minimum depth: 388.062584 meters looking forward 200.000000 meters along route
#   Maximum depth: 426.692820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 338.062584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797467;
longitude = -121.891974;
duration = 408;
initialDepth = 296.026108;
finalDepth = 338.062584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.056594
#   Actual altitude:          75.056594
#   Commanded vehicle depth:  338.062584 
#   Seafloor depth:           -413.119178
# 
behavior reson
{
duration = 6;
MB_Gain = 60;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.032118 meters
#   Minimum depth: 346.026108 meters looking forward 200.000000 meters along route
#   Maximum depth: 410.598294 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.026108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798368;
longitude = -121.891746;
duration = 408;
initialDepth = 254.915010;
finalDepth = 296.026108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.843477
#   Actual altitude:          87.843477
#   Commanded vehicle depth:  296.026108 
#   Seafloor depth:           -383.869585
# 
behavior reson
{
duration = 6;
MB_Gain = 60;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 108.834229 meters
#   Minimum depth: 304.915010 meters looking forward 200.000000 meters along route
#   Maximum depth: 373.704581 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 254.915010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799269;
longitude = -121.891518;
duration = 435;
initialDepth = 229.688949;
finalDepth = 254.915010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       88.610481
#   Actual altitude:          88.610481
#   Commanded vehicle depth:  254.91501 
#   Seafloor depth:           -343.525491
# 
behavior reson
{
duration = 6;
MB_Gain = 60;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.17;
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 94.782785 meters
#   Minimum depth: 279.688949 meters looking forward 200.000000 meters along route
#   Maximum depth: 339.389988 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 229.688949 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800231;
longitude = -121.891275;
duration = 379;
# abortOnTimeout    = True; 
initialDepth = 201.589935;
finalDepth = 229.688949;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.610481
#   Actual altitude:          88.610481
#   Commanded vehicle depth:  229.688949 
#   Seafloor depth:           -302.125366
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.552968 meters
#   Minimum depth: 251.589935 meters looking forward 200.000000 meters along route
#   Maximum depth: 302.125366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 201.589935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801072;
longitude = -121.891089;
duration = 406;
initialDepth = 165.193754;
finalDepth = 201.589935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.600279
#   Actual altitude:          75.600279
#   Commanded vehicle depth:  201.589935 
#   Seafloor depth:           -277.190214
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.552950 meters
#   Minimum depth: 215.193754 meters looking forward 200.000000 meters along route
#   Maximum depth: 274.332948 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 165.193754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801973;
longitude = -121.890890;
duration = 406;
initialDepth = 128.596191;
finalDepth = 165.193754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.817263
#   Actual altitude:          82.817263
#   Commanded vehicle depth:  165.193754 
#   Seafloor depth:           -248.011017
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.552933 meters
#   Minimum depth: 178.596191 meters looking forward 200.000000 meters along route
#   Maximum depth: 243.906012 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 128.596191 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802874;
longitude = -121.890691;
duration = 406;
initialDepth = 98.471060;
finalDepth = 128.596191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.772239
#   Actual altitude:          86.772239
#   Commanded vehicle depth:  128.596191 
#   Seafloor depth:           -215.368430
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.552916 meters
#   Minimum depth: 148.471060 meters looking forward 200.000000 meters along route
#   Maximum depth: 212.153178 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 98.471060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803776;
longitude = -121.890492;
duration = 406;
initialDepth = 73.030059;
finalDepth = 98.471060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.772239
#   Actual altitude:          86.772239
#   Commanded vehicle depth:  98.47106 
#   Seafloor depth:           -176.160335
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.552898 meters
#   Minimum depth: 123.030059 meters looking forward 200.000000 meters along route
#   Maximum depth: 173.039558 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 73.030059 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804677;
longitude = -121.890293;
duration = 406;
initialDepth = 52.337045;
finalDepth = 73.030059;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.689275
#   Actual altitude:          77.689275
#   Commanded vehicle depth:  73.030059 
#   Seafloor depth:           -145.053102
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.976017 meters
#   Minimum depth: 102.337045 meters looking forward 200.000000 meters along route
#   Maximum depth: 142.965333 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 52.337045 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805578;
longitude = -121.890094;
duration = 407;
initialDepth = 44.737485;
finalDepth = 52.337045;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.023043
#   Actual altitude:          72.023043
#   Commanded vehicle depth:  52.337045 
#   Seafloor depth:           -121.010340
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.129727 meters
#   Minimum depth: 94.737485 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.590752 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 44.737485 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806483;
longitude = -121.889894;
duration = 404;
initialDepth = 38.135456;
finalDepth = 44.737485;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.673295
#   Actual altitude:          68.673295
#   Commanded vehicle depth:  44.737485 
#   Seafloor depth:           -102.289608
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 108.323035 meters
#   Minimum depth: 88.135456 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.140026 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 38.135456 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807381;
longitude = -121.889695;
duration = 433;
initialDepth = 38.041128;
finalDepth = 38.135456;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.552123
#   Actual altitude:          57.552123
#   Commanded vehicle depth:  38.135456 
#   Seafloor depth:           -93.901104
# 
behavior reson
{
duration = 6;
MB_Gain = 65;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
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# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
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# 
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# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.765648
#   Sonar parameter altitude: 55.765648
#   Commanded vehicle depth:  38.041128 
#   Seafloor depth:           -88.041128
# 
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;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 65;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 33.46;
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;
}
# 
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# 
# Waypoint behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 88.041128 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.140026 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 427.645243 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 38.041128 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.808342;
longitude = -121.889483;
duration = 600;
depth = 38.041128;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
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# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 355.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 355.0;
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 = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
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;
}
# 
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