

# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <deitz> at <Fri Feb 22 12:19:29 PST 2013>
#
# Mission Summary:
#     Route File:               20130222_WallTest3v1.rte
#     Mission File:             20130222_WallTest3v1.cfg
#     Distance:                 5898.470153 (m)
#     Estimated Time:           5797 (s)  1.610 (hr)
#     Abort Time:               7536 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1177 (s)
#     Way Points:               10
#     Route Points:             58
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control 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:   12 (m)
#     Delta Depth Restart 1:      38 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 75 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      969.662605 (m)
#     Abort Vehicle Depth:        994.662605 (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 -121.969798 36.800379 -99.945450 0.000000 3
#   1 -121.984601 36.775992 -790.414108 3010.737952 1
#   2 -121.987772 36.773956 -932.025497 3372.827331 1
#   3 -121.992553 36.773648 -931.229797 3800.887355 1
#   4 -121.999758 36.773798 -966.801712 4444.133446 1
#   5 -122.003192 36.774099 -977.229477 4752.423203 5
#   6 -122.005133 36.774429 -984.006149 4929.478138 1
#   7 -122.007261 36.775150 -989.483429 5135.551584 6
#   8 -122.010919 36.777524 -994.986343 5555.001555 1
#   9 -122.008047 36.779585 -981.406189 5898.470153 1
#
# A total of 58 mission points have been defined.
#
# Define Mission parameters:
#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 7536;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 969.662605;
abortDepth = 994.662605;
minAltitude = 50.000000;
abortAltitude = 12.000000;
deltaDepthRestart = 38.000000;
}
#######################################################
# Set End-of-Mission Behaviors
#
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#
# ascend behavior
behavior ascend
{
duration = 1177;
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;
}
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 9
#   Segment length 141.140021 meters
#   Minimum depth: 981.406189 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.533728 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 931.406189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779585;
longitude = -122.008047;
duration = 282;
# abortOnTimeout    = True;
initialDepth = 944.368010;
finalDepth = 931.406189;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 9
#   Segment length 101.847667 meters
#   Minimum depth: 994.368010 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.996042 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.368010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778738;
longitude = -122.009227;
duration = 203;
initialDepth = 944.662605;
finalDepth = 944.368010;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 9
#   Segment length 100.480910 meters
#   Minimum depth: 994.662605 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.080298 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.662605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778127;
longitude = -122.010079;
duration = 200;
initialDepth = 943.904752;
finalDepth = 944.662605;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 8
#   Segment length 116.899576 meters
#   Minimum depth: 993.904752 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.192277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 943.904752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.777524;
longitude = -122.010919;
duration = 233;
# abortOnTimeout    = True;
initialDepth = 919.088397;
finalDepth = 943.904752;
speed = 1.500000;
maxCrossTrackError = 10;
standOff = 50;
sonarTimeOut = 5;
rangeInst = 3;
projection = 3;
windowLen = 1;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 8
#   Segment length 100.222388 meters
#   Minimum depth: 969.088397 meters looking forward 100.000000 meters along route
#   Maximum depth: 996.133859 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 919.088397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.776862;
longitude = -122.009900;
duration = 200;
initialDepth = 942.863557;
finalDepth = 919.088397;
speed = 1.500000;
maxCrossTrackError = 10;
standOff = 50;
sonarTimeOut = 5;
rangeInst = 3;
projection = 3;
windowLen = 1;
}
#
#
#
# Waypoint_depth behavior during line 8
#   Segment length 100.222849 meters
#   Minimum depth: 992.863557 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.910101 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 942.863557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.776295;
longitude = -122.009025;
duration = 200;
initialDepth = 939.478137;
finalDepth = 942.863557;
speed = 1.500000;
maxCrossTrackError = 10;
standOff = 50;
sonarTimeOut = 5;
rangeInst = 3;
projection = 3;
windowLen = 1;
}
#
#
#
# Waypoint_depth behavior during line 8
#   Segment length 102.105158 meters
#   Minimum depth: 989.478137 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.234719 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.478137 meters set by local depth and desired altitude
#   Vehicle transit speed:    1.500000 m/s
behavior waypoint_wall
{
latitude = 36.775728;
longitude = -122.008151;
duration = 204;
initialDepth = 937.617299;
finalDepth = 939.478137;
speed = 1.500000;
maxCrossTrackError = 10;
standOff = 50;
sonarTimeOut = 5;
rangeInst = 3;
projection = 3;
windowLen = 1;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 7
#   Segment length 104.754043 meters
#   Minimum depth: 987.617299 meters looking forward 100.000000 meters along route
#   Maximum depth: 990.196532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 937.617299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.775150;
longitude = -122.007261;
duration = 209;
# abortOnTimeout    = True;
initialDepth = 934.097111;
finalDepth = 937.617299;
speed = 1.500000;
maxCrossTrackError = 10;
standOff = 50;
sonarTimeOut = 5;
rangeInst = 3;
projection = 3;
windowLen = 1;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 7
#   Segment length 101.319403 meters
#   Minimum depth: 984.097111 meters looking forward 100.000000 meters along route
#   Maximum depth: 987.441722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 934.097111 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774783;
longitude = -122.006179;
duration = 202;
initialDepth = 931.290082;
finalDepth = 934.097111;
speed = 1.500000;
maxCrossTrackError = 10;
standOff = 50;
sonarTimeOut = 5;
rangeInst = 3;
projection = 3;
windowLen = 1;
}
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 6
#   Segment length 76.283509 meters
#   Minimum depth: 981.290082 meters looking forward 100.000000 meters along route
#   Maximum depth: 986.042205 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 931.290082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774429;
longitude = -122.005133;
duration = 152;
# abortOnTimeout    = True;
initialDepth = 926.960981;
finalDepth = 931.290082;
speed = 1.500000;
maxCrossTrackError = 10;
standOff = 50;
sonarTimeOut = 5;
rangeInst = 3;
projection = 3;
windowLen = 1;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 6
#   Segment length 100.771426 meters
#   Minimum depth: 976.960981 meters looking forward 100.000000 meters along route
#   Maximum depth: 981.561153 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 926.960981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.774287;
longitude = -122.004297;
duration = 201;
initialDepth = 918.918987;
finalDepth = 926.960981;
speed = 1.500000;
maxCrossTrackError = 10;
standOff = 50;
sonarTimeOut = 5;
rangeInst = 3;
projection = 3;
windowLen = 1;
}
#
# 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 106.044115 meters
#   Minimum depth: 968.918987 meters looking forward 100.000000 meters along route
#   Maximum depth: 977.731936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 918.918987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774099;
longitude = -122.003192;
duration = 212;
# abortOnTimeout    = True;
initialDepth = 916.905085;
finalDepth = 918.918987;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 5
#   Segment length 100.598927 meters
#   Minimum depth: 966.905085 meters looking forward 100.000000 meters along route
#   Maximum depth: 973.581677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.905085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773995;
longitude = -122.002011;
duration = 201;
initialDepth = 916.845026;
finalDepth = 916.905085;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 5
#   Segment length 101.646715 meters
#   Minimum depth: 966.845026 meters looking forward 100.000000 meters along route
#   Maximum depth: 969.634313 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.845026 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773897;
longitude = -122.000890;
duration = 203;
initialDepth = 911.921280;
finalDepth = 916.845026;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 4
#   Segment length 143.016918 meters
#   Minimum depth: 961.921280 meters looking forward 100.000000 meters along route
#   Maximum depth: 966.801712 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 911.921280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773798;
longitude = -121.999758;
duration = 286;
# abortOnTimeout    = True;
initialDepth = 904.962610;
finalDepth = 911.921280;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 4
#   Segment length 100.040858 meters
#   Minimum depth: 954.962610 meters looking forward 100.000000 meters along route
#   Maximum depth: 961.721254 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 904.962610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773765;
longitude = -121.998156;
duration = 200;
initialDepth = 895.118123;
finalDepth = 904.962610;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 100.040910 meters
#   Minimum depth: 945.118123 meters looking forward 100.000000 meters along route
#   Maximum depth: 955.473464 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.118123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773741;
longitude = -121.997036;
duration = 200;
initialDepth = 895.912497;
finalDepth = 895.118123;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 100.040962 meters
#   Minimum depth: 945.912497 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.018826 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.912497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773718;
longitude = -121.995915;
duration = 200;
initialDepth = 898.202540;
finalDepth = 895.912497;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 100.041015 meters
#   Minimum depth: 948.202540 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.883479 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.202540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773695;
longitude = -121.994794;
duration = 200;
initialDepth = 881.012553;
finalDepth = 898.202540;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 4
#   Segment length 100.065428 meters
#   Minimum depth: 931.012553 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.196115 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.012553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773671;
longitude = -121.993674;
duration = 200;
initialDepth = 870.508624;
finalDepth = 881.012553;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 3
#   Segment length 126.388489 meters
#   Minimum depth: 920.508624 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.832601 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 870.508624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773648;
longitude = -121.992553;
duration = 252;
# abortOnTimeout    = True;
initialDepth = 878.586877;
finalDepth = 870.508624;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 3
#   Segment length 100.327635 meters
#   Minimum depth: 928.586877 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.968259 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 878.586877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773739;
longitude = -121.991141;
duration = 200;
initialDepth = 879.117353;
finalDepth = 878.586877;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 100.327562 meters
#   Minimum depth: 929.117353 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.604240 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.117353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773811;
longitude = -121.990021;
duration = 200;
initialDepth = 882.122187;
finalDepth = 879.117353;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 101.016338 meters
#   Minimum depth: 932.122187 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.384309 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.122187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773883;
longitude = -121.988900;
duration = 202;
initialDepth = 842.386301;
finalDepth = 882.122187;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 2
#   Segment length 160.344275 meters
#   Minimum depth: 892.386301 meters looking forward 100.000000 meters along route
#   Maximum depth: 932.025497 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 842.386301 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773956;
longitude = -121.987772;
duration = 320;
# abortOnTimeout    = True;
initialDepth = 797.367844;
finalDepth = 842.386301;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 2
#   Segment length 101.346452 meters
#   Minimum depth: 847.367844 meters looking forward 100.000000 meters along route
#   Maximum depth: 892.125054 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 797.367844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774858;
longitude = -121.986368;
duration = 202;
initialDepth = 740.657041;
finalDepth = 797.367844;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 100.398652 meters
#   Minimum depth: 790.657041 meters looking forward 100.000000 meters along route
#   Maximum depth: 846.695373 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.657041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775427;
longitude = -121.985480;
duration = 200;
initialDepth = 705.484946;
finalDepth = 740.657041;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 1
#   Segment length 106.095558 meters
#   Minimum depth: 755.484946 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.414108 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 705.484946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775992;
longitude = -121.984601;
duration = 212;
# abortOnTimeout    = True;
initialDepth = 671.947009;
finalDepth = 705.484946;
speed = 1.500000;
}
#
#######################################################
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.135202 meters
#   Minimum depth: 721.947009 meters looking forward 100.000000 meters along route
#   Maximum depth: 755.298173 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 671.947009 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776851;
longitude = -121.984079;
duration = 200;
initialDepth = 648.246530;
finalDepth = 671.947009;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.135020 meters
#   Minimum depth: 698.246530 meters looking forward 100.000000 meters along route
#   Maximum depth: 721.858322 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 648.246530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777662;
longitude = -121.983587;
duration = 200;
initialDepth = 629.880142;
finalDepth = 648.246530;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.134838 meters
#   Minimum depth: 679.880142 meters looking forward 100.000000 meters along route
#   Maximum depth: 698.189743 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 629.880142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778474;
longitude = -121.983095;
duration = 200;
initialDepth = 606.139151;
finalDepth = 629.880142;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.215539 meters
#   Minimum depth: 656.139151 meters looking forward 100.000000 meters along route
#   Maximum depth: 679.863789 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 606.139151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779285;
longitude = -121.982602;
duration = 200;
initialDepth = 589.766073;
finalDepth = 606.139151;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.053588 meters
#   Minimum depth: 639.766073 meters looking forward 100.000000 meters along route
#   Maximum depth: 656.121787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 589.766073 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780096;
longitude = -121.982110;
duration = 200;
initialDepth = 571.946754;
finalDepth = 589.766073;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.134290 meters
#   Minimum depth: 621.946754 meters looking forward 100.000000 meters along route
#   Maximum depth: 639.594029 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 571.946754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780907;
longitude = -121.981618;
duration = 200;
initialDepth = 548.371504;
finalDepth = 571.946754;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.134108 meters
#   Minimum depth: 598.371504 meters looking forward 100.000000 meters along route
#   Maximum depth: 621.478251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 548.371504 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781718;
longitude = -121.981125;
duration = 200;
initialDepth = 516.786119;
finalDepth = 548.371504;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.133925 meters
#   Minimum depth: 566.786119 meters looking forward 100.000000 meters along route
#   Maximum depth: 597.734857 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.786119 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782529;
longitude = -121.980633;
duration = 200;
initialDepth = 480.473615;
finalDepth = 516.786119;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.133743 meters
#   Minimum depth: 530.473615 meters looking forward 100.000000 meters along route
#   Maximum depth: 566.206028 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.473615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783340;
longitude = -121.980141;
duration = 200;
initialDepth = 454.791355;
finalDepth = 480.473615;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.133561 meters
#   Minimum depth: 504.791355 meters looking forward 100.000000 meters along route
#   Maximum depth: 529.829242 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 454.791355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784151;
longitude = -121.979648;
duration = 200;
initialDepth = 436.682383;
finalDepth = 454.791355;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.133377 meters
#   Minimum depth: 486.682383 meters looking forward 100.000000 meters along route
#   Maximum depth: 504.390089 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 436.682383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784962;
longitude = -121.979156;
duration = 200;
initialDepth = 403.632531;
finalDepth = 436.682383;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.133196 meters
#   Minimum depth: 453.632531 meters looking forward 100.000000 meters along route
#   Maximum depth: 486.160754 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 403.632531 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785773;
longitude = -121.978664;
duration = 200;
initialDepth = 359.323386;
finalDepth = 403.632531;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.133013 meters
#   Minimum depth: 409.323386 meters looking forward 100.000000 meters along route
#   Maximum depth: 452.737821 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 359.323386 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786584;
longitude = -121.978171;
duration = 200;
initialDepth = 308.561151;
finalDepth = 359.323386;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.132831 meters
#   Minimum depth: 358.561151 meters looking forward 100.000000 meters along route
#   Maximum depth: 407.895735 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 308.561151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787395;
longitude = -121.977679;
duration = 200;
initialDepth = 285.718130;
finalDepth = 308.561151;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.132648 meters
#   Minimum depth: 335.718130 meters looking forward 100.000000 meters along route
#   Maximum depth: 357.109643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 285.718130 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788206;
longitude = -121.977187;
duration = 200;
initialDepth = 268.291890;
finalDepth = 285.718130;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.132466 meters
#   Minimum depth: 318.291890 meters looking forward 100.000000 meters along route
#   Maximum depth: 335.119141 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 268.291890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789017;
longitude = -121.976694;
duration = 200;
initialDepth = 249.732615;
finalDepth = 268.291890;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.132283 meters
#   Minimum depth: 299.732615 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.908756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 249.732615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789829;
longitude = -121.976202;
duration = 200;
initialDepth = 230.401394;
finalDepth = 249.732615;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.132102 meters
#   Minimum depth: 280.401394 meters looking forward 100.000000 meters along route
#   Maximum depth: 299.782917 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 230.401394 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790640;
longitude = -121.975710;
duration = 200;
initialDepth = 210.617508;
finalDepth = 230.401394;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.131918 meters
#   Minimum depth: 260.617508 meters looking forward 100.000000 meters along route
#   Maximum depth: 279.914286 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 210.617508 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791451;
longitude = -121.975217;
duration = 200;
initialDepth = 188.784592;
finalDepth = 210.617508;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.131736 meters
#   Minimum depth: 238.784592 meters looking forward 100.000000 meters along route
#   Maximum depth: 259.985300 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 188.784592 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792262;
longitude = -121.974725;
duration = 200;
initialDepth = 166.539490;
finalDepth = 188.784592;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.131554 meters
#   Minimum depth: 216.539490 meters looking forward 100.000000 meters along route
#   Maximum depth: 238.436418 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 166.539490 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793073;
longitude = -121.974233;
duration = 200;
initialDepth = 147.169070;
finalDepth = 166.539490;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.131372 meters
#   Minimum depth: 197.169070 meters looking forward 100.000000 meters along route
#   Maximum depth: 216.084072 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 147.169070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793884;
longitude = -121.973741;
duration = 200;
initialDepth = 129.947221;
finalDepth = 147.169070;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.131189 meters
#   Minimum depth: 179.947221 meters looking forward 100.000000 meters along route
#   Maximum depth: 196.876228 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 129.947221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794695;
longitude = -121.973248;
duration = 200;
initialDepth = 103.734890;
finalDepth = 129.947221;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.131006 meters
#   Minimum depth: 153.734890 meters looking forward 100.000000 meters along route
#   Maximum depth: 179.520079 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 103.734890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795506;
longitude = -121.972756;
duration = 200;
initialDepth = 77.170065;
finalDepth = 103.734890;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.130825 meters
#   Minimum depth: 127.170065 meters looking forward 100.000000 meters along route
#   Maximum depth: 153.360361 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 77.170065 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796317;
longitude = -121.972264;
duration = 200;
initialDepth = 60.150285;
finalDepth = 77.170065;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.130642 meters
#   Minimum depth: 110.150285 meters looking forward 100.000000 meters along route
#   Maximum depth: 126.917255 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 60.150285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797128;
longitude = -121.971771;
duration = 200;
initialDepth = 54.481936;
finalDepth = 60.150285;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.130459 meters
#   Minimum depth: 104.481936 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.138997 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 54.481936 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797939;
longitude = -121.971279;
duration = 200;
initialDepth = 52.540034;
finalDepth = 54.481936;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.130277 meters
#   Minimum depth: 102.540034 meters looking forward 100.000000 meters along route
#   Maximum depth: 104.418641 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 52.540034 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798750;
longitude = -121.970787;
duration = 200;
initialDepth = 49.540001;
finalDepth = 52.540034;
speed = 1.500000;
}
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 100.925686 meters
#   Minimum depth: 99.540001 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.559041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 49.540001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799561;
longitude = -121.970294;
duration = 201;
initialDepth = 49.540001;
finalDepth = 49.540001;
speed = 1.500000;
}
#
# 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: 99.540001 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.559041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 969.662605 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 49.540001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800379;
longitude = -121.969798;
duration = 600;
initialDepth = 49.540001;
finalDepth = 49.540001;
speed = 1.500000;
}
#
#######################################################
#######################################################
#
#
# Descend behavior
behavior descend
{
horizontalMode = heading;
horizontal = 240.0;
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 = 240.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
#######################################################
