

# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <wegener> at <Tue Sep 18 16:30:47 PDT 2012>
# 
# Mission Summary:
#     Route File:               2012BenthicImagingAUVTest_1v1.rte
#     Mission File:             2012BenthicImagingAUVTest_1v1.cfg
#     Distance:                 3121.500456 (m)
#     Estimated Time:           4151 (s)  1.153 (hr)
#     Abort Time:               5397 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               19
#     Route Points:             31
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control disabled:          
#     Benthic imaging camera control enabled:  
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.000000 (m/s) 1.943846 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Desired Vehicle Altitude 1: 0 (m)
#     Minimum Vehicle Altitude 1: 3 (m)
#     Abort Vehicle Altitude 1:   1 (m)
#     Delta Depth Restart 1:      2 (m)
#     Desired Vehicle Altitude 2: 0 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      95.864508 (m)
#     Abort Vehicle Depth:        97.364508 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   100 (m)
#     Waypoint Spacing:           100 (m)
#     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 -121.935804 36.698618 -97.236515 0.000000 3
#   1 -121.938318 36.700091 -97.239958 277.819381 1
#   2 -121.940458 36.700088 -96.992573 469.026923 1
#   3 -121.940218 36.699111 -95.022892 579.544787 1
#   4 -121.939242 36.698422 -93.453085 695.511486 1
#   5 -121.939537 36.697494 -92.253002 801.677567 1
#   6 -121.940387 36.697116 -90.203419 888.422629 1
#   7 -121.940927 36.696713 -89.550041 954.264038 1
#   8 -121.941941 36.696699 -89.136599 1044.863125 1
#   9 -121.941924 36.695928 -87.666010 1130.432923 1
#   10 -121.942161 36.695069 -85.393930 1228.123909 1
#   11 -121.942736 36.694144 -89.331936 1342.883732 1
#   12 -121.943984 36.693543 -93.623913 1472.751817 1
#   13 -121.944803 36.693323 -95.526636 1549.921843 1
#   14 -121.945155 36.694415 -95.122295 1675.024313 1
#   15 -121.945088 36.697226 -95.043934 1986.977647 1
#   16 -121.943246 36.700135 -97.498672 2349.242992 1
#   17 -121.941664 36.700507 -98.372204 2496.468860 1
#   18 -121.935303 36.698160 -97.129398 3121.500456 4
# 
# A total of 31 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 5397;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 95.864508;
abortDepth = 97.364508;
minAltitude = 3.000000;
abortAltitude = 1.000000;
deltaDepthRestart = 2.000000;
}
#######################################################
# 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 camera imaging 
#   Distance along survey: 3121.500456
behavior stopCamera
{
duration = 1;
}
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 124.187926 meters
#   Minimum depth: 96.994147 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.480500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.698160;
longitude = -121.935303;
duration = 372;
# abortOnTimeout    = True; 
initialDepth = 97.005957;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.056448 meters
#   Minimum depth: 97.005957 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.527134 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.698626;
longitude = -121.936567;
duration = 300;
initialDepth = 93.555688;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.064953 meters
#   Minimum depth: 93.555688 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.177567 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 93.555688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.699002;
longitude = -121.937585;
duration = 300;
initialDepth = 93.146984;
finalDepth = 93.555688;
speed = 1.000000;
}
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.046674 meters
#   Minimum depth: 93.146984 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.547491 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 93.146984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.699377;
longitude = -121.938603;
duration = 300;
initialDepth = 95.369326;
finalDepth = 93.146984;
speed = 1.000000;
}
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.055180 meters
#   Minimum depth: 95.369326 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.233718 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.369326 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.699753;
longitude = -121.939622;
duration = 300;
initialDepth = 97.167622;
finalDepth = 95.369326;
speed = 1.000000;
}
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.620415 meters
#   Minimum depth: 97.167622 meters looking forward 100.000000 meters along route
#   Maximum depth: 98.419657 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.700129;
longitude = -121.940640;
duration = 301;
initialDepth = 97.364508;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 147.225868 meters
#   Minimum depth: 97.364508 meters looking forward 100.000000 meters along route
#   Maximum depth: 98.372204 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.700507;
longitude = -121.941664;
duration = 441;
# abortOnTimeout    = True; 
initialDepth = 95.908507;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 161.237342 meters
#   Minimum depth: 95.908507 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.498672 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.700135;
longitude = -121.943246;
duration = 483;
# abortOnTimeout    = True; 
initialDepth = 95.031113;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 100.781589 meters
#   Minimum depth: 95.031113 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.903118 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.031113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.698840;
longitude = -121.944066;
duration = 302;
initialDepth = 94.796022;
finalDepth = 95.031113;
speed = 1.000000;
}
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 100.246414 meters
#   Minimum depth: 94.796022 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.230998 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 94.796022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.698031;
longitude = -121.944578;
duration = 300;
initialDepth = 94.689867;
finalDepth = 94.796022;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 111.324701 meters
#   Minimum depth: 94.689867 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.238399 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 94.689867 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.697226;
longitude = -121.945088;
duration = 333;
# abortOnTimeout    = True; 
initialDepth = 94.490938;
finalDepth = 94.689867;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.538726 meters
#   Minimum depth: 94.490938 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.170031 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 94.490938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.696223;
longitude = -121.945112;
duration = 301;
initialDepth = 94.475778;
finalDepth = 94.490938;
speed = 1.000000;
}
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.089907 meters
#   Minimum depth: 94.475778 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.402503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 94.475778 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.695317;
longitude = -121.945133;
duration = 300;
initialDepth = 94.682091;
finalDepth = 94.475778;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 125.102470 meters
#   Minimum depth: 94.682091 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.606019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 94.682091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.694415;
longitude = -121.945155;
duration = 375;
# abortOnTimeout    = True; 
initialDepth = 93.670323;
finalDepth = 94.682091;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 77.170026 meters
#   Minimum depth: 93.670323 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.606019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 93.670323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.693323;
longitude = -121.944803;
duration = 231;
# abortOnTimeout    = True; 
initialDepth = 89.343809;
finalDepth = 93.670323;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 129.868085 meters
#   Minimum depth: 89.343809 meters looking forward 100.000000 meters along route
#   Maximum depth: 93.623913 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 89.343809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.693543;
longitude = -121.943984;
duration = 389;
# abortOnTimeout    = True; 
initialDepth = 85.410586;
finalDepth = 89.343809;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 114.759823 meters
#   Minimum depth: 85.410586 meters looking forward 100.000000 meters along route
#   Maximum depth: 89.331936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 85.410586 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.694144;
longitude = -121.942736;
duration = 344;
# abortOnTimeout    = True; 
initialDepth = 85.387100;
finalDepth = 85.410586;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 97.690986 meters
#   Minimum depth: 85.387100 meters looking forward 100.000000 meters along route
#   Maximum depth: 87.646730 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 85.387100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.695069;
longitude = -121.942161;
duration = 293;
# abortOnTimeout    = True; 
initialDepth = 87.551412;
finalDepth = 85.387100;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 85.569798 meters
#   Minimum depth: 87.551412 meters looking forward 100.000000 meters along route
#   Maximum depth: 89.145524 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 87.551412 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.695928;
longitude = -121.941924;
duration = 256;
# abortOnTimeout    = True; 
initialDepth = 89.085664;
finalDepth = 87.551412;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 90.599087 meters
#   Minimum depth: 89.085664 meters looking forward 100.000000 meters along route
#   Maximum depth: 89.822653 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 89.085664 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.696699;
longitude = -121.941941;
duration = 271;
# abortOnTimeout    = True; 
initialDepth = 89.510113;
finalDepth = 89.085664;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 65.841409 meters
#   Minimum depth: 89.510113 meters looking forward 100.000000 meters along route
#   Maximum depth: 90.316930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 89.510113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.696713;
longitude = -121.940927;
duration = 197;
# abortOnTimeout    = True; 
initialDepth = 90.125933;
finalDepth = 89.510113;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 86.745062 meters
#   Minimum depth: 90.125933 meters looking forward 100.000000 meters along route
#   Maximum depth: 92.243649 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 90.125933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.697116;
longitude = -121.940387;
duration = 260;
# abortOnTimeout    = True; 
initialDepth = 92.253002;
finalDepth = 90.125933;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 106.166081 meters
#   Minimum depth: 92.253002 meters looking forward 100.000000 meters along route
#   Maximum depth: 93.488336 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 92.253002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.697494;
longitude = -121.939537;
duration = 318;
# abortOnTimeout    = True; 
initialDepth = 93.453085;
finalDepth = 92.253002;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 115.966699 meters
#   Minimum depth: 93.453085 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.025541 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 93.453085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.698422;
longitude = -121.939242;
duration = 347;
# abortOnTimeout    = True; 
initialDepth = 95.001378;
finalDepth = 93.453085;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 110.517864 meters
#   Minimum depth: 95.001378 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.003680 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.001378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.699111;
longitude = -121.940218;
duration = 331;
# abortOnTimeout    = True; 
initialDepth = 96.390865;
finalDepth = 95.001378;
speed = 1.000000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 90.757192 meters
#   Minimum depth: 96.390865 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.083916 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.700088;
longitude = -121.940458;
duration = 272;
# abortOnTimeout    = True; 
initialDepth = 96.548565;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.450350 meters
#   Minimum depth: 96.548565 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.249375 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.700089;
longitude = -121.939443;
duration = 301;
initialDepth = 97.057530;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 77.276212 meters
#   Minimum depth: 97.057530 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.818223 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.700091;
longitude = -121.938318;
duration = 231;
# abortOnTimeout    = True; 
initialDepth = 97.232613;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.143523 meters
#   Minimum depth: 97.232613 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.606947 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.699681;
longitude = -121.937619;
duration = 300;
initialDepth = 97.077151;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.399646 meters
#   Minimum depth: 97.077151 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.379122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.699150;
longitude = -121.936712;
duration = 301;
initialDepth = 97.077151;
finalDepth = 95.864508;
speed = 1.000000;
}
# 
#######################################################
# Start taking pictures with camera.
#   Distance along survey: 0.000000
#   Length of camera run: 3121.500456
#   Number of photos: 343
behavior startCamera
{
duration = 1;
nSamplePeriods = 9;
}
# 
#######################################################
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 97.077151 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.379122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 95.864508 meters
#   Desired vehicle altitude: 0.000000 meters
#   Minimum vehicle altitude: 3.000000 meters
#   Behavior depth of 95.864508 meters set to maximum vehicle depth
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.698618;
longitude = -121.935804;
duration = 600;
initialDepth = 95.864508;
finalDepth = 95.864508;
speed = 1.000000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 10.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 3.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 10.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
#######################################################
