

# 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 Jun  7 14:57:26 PDT 2013>
# 
# Mission Summary:
#     Route File:               2013_WallTest_4v1.rte
#     Mission File:             2013_WallTest_4v1.cfg
#     Distance:                 9664.943388 (m)
#     Estimated Time:           8321 (s)  2.312 (hr)
#     Abort Time:               10818 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1194 (s)
#     Way Points:               34
#     Route Points:             94
#     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 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: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      970.008301 (m)
#     Abort Vehicle Depth:        995.008301 (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 3
#   3 -121.992553 36.773648 -931.229797 3800.887355 1
#   4 -121.996244 36.773739 -951.224960 4130.456094 1
#   5 -121.999758 36.773798 -966.801712 4444.141057 1
#   6 -122.003139 36.774268 -977.509201 4750.358448 1
#   7 -122.005133 36.774429 -984.006149 4929.211052 1
#   8 -122.007261 36.775150 -989.483429 5135.284498 3
#   9 -122.005634 36.777128 -943.018860 5398.413553 1
#   10 -121.995272 36.778684 -837.553894 6339.122771 1
#   11 -121.993009 36.777656 -830.610077 6571.055824 1
#   12 -121.990910 36.777146 -847.955597 6766.736530 1
#   13 -121.990342 36.774574 -938.886887 7056.542381 3
#   14 -121.990880 36.773691 -934.752563 7165.637018 1
#   15 -121.992703 36.774532 -949.035080 7353.188868 1
#   16 -121.993368 36.773763 -946.169250 7457.115090 1
#   17 -121.995258 36.774604 -955.015610 7649.876849 1
#   18 -121.995945 36.773709 -944.730804 7766.573208 1
#   19 -121.997514 36.774556 -961.496460 7935.208305 1
#   20 -121.998007 36.773691 -959.206024 8040.777324 1
#   21 -121.999262 36.774574 -965.119400 8189.577079 1
#   22 -121.999755 36.773799 -966.801712 8286.159662 1
#   23 -122.000808 36.774574 -968.939041 8413.533256 1
#   24 -122.001398 36.773956 -973.436813 8499.981073 1
#   25 -122.002444 36.774719 -974.938858 8625.996181 1
#   26 -122.003139 36.774268 -977.509201 8705.687351 1
#   27 -122.004334 36.775001 -979.342072 8839.802736 1
#   28 -122.005044 36.774538 -982.339371 8921.371737 1
#   29 -122.005724 36.775217 -985.693512 9018.104888 1
#   30 -122.006433 36.774863 -987.789108 9092.577272 1
#   31 -122.007262 36.775151 -989.483429 9173.166583 1
#   32 -122.010400 36.777512 -995.320908 9556.617302 1
#   33 -122.009713 36.778317 -995.008301 9664.943388 4
# 
# A total of 94 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 10818;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 970.008301;
abortDepth = 995.008301;
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 = 1194;
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;
}
# 
# 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 33
#   Segment length 108.326086 meters
#   Minimum depth: 995.008301 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.392445 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.008301 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778317;
longitude = -122.009713;
duration = 216;
# abortOnTimeout    = True; 
initialDepth = 944.494478;
finalDepth = 945.008301;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 80.950068 meters
#   Minimum depth: 994.494478 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.519989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.494478 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777512;
longitude = -122.010400;
duration = 161;
# abortOnTimeout    = True; 
initialDepth = 943.954707;
finalDepth = 944.494478;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 100.702282 meters
#   Minimum depth: 993.954707 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.794627 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 943.954707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777014;
longitude = -122.009738;
duration = 201;
initialDepth = 940.346593;
finalDepth = 943.954707;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 101.326639 meters
#   Minimum depth: 990.346593 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.938301 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 940.346593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776394;
longitude = -122.008913;
duration = 202;
initialDepth = 939.510883;
finalDepth = 940.346593;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 100.471730 meters
#   Minimum depth: 989.510883 meters looking forward 100.000000 meters along route
#   Maximum depth: 992.307848 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.510883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775770;
longitude = -122.008084;
duration = 200;
initialDepth = 937.564876;
finalDepth = 939.510883;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 104.754042 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: 970.008301 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_depth
{
latitude = 36.775150;
longitude = -122.007261;
duration = 209;
# abortOnTimeout    = True; 
initialDepth = 934.097111;
finalDepth = 937.617299;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 101.319404 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: 970.008301 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_depth
{
latitude = 36.774783;
longitude = -122.006179;
duration = 202;
initialDepth = 931.366176;
finalDepth = 934.097111;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 77.020066 meters
#   Minimum depth: 981.366176 meters looking forward 100.000000 meters along route
#   Maximum depth: 986.042205 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 931.366176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774429;
longitude = -122.005133;
duration = 154;
# abortOnTimeout    = True; 
initialDepth = 927.535679;
finalDepth = 931.366176;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.832538 meters
#   Minimum depth: 977.535679 meters looking forward 100.000000 meters along route
#   Maximum depth: 981.213038 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 927.535679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774360;
longitude = -122.004274;
duration = 203;
initialDepth = 924.292745;
finalDepth = 927.535679;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 104.211928 meters
#   Minimum depth: 974.292745 meters looking forward 100.000000 meters along route
#   Maximum depth: 977.549696 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 924.292745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774268;
longitude = -122.003139;
duration = 208;
# abortOnTimeout    = True; 
initialDepth = 920.630997;
finalDepth = 924.292745;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 101.489060 meters
#   Minimum depth: 970.630997 meters looking forward 100.000000 meters along route
#   Maximum depth: 974.672811 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 920.630997 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774108;
longitude = -122.001988;
duration = 202;
initialDepth = 916.852258;
finalDepth = 920.630997;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 100.516403 meters
#   Minimum depth: 966.852258 meters looking forward 100.000000 meters along route
#   Maximum depth: 970.765360 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.852258 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773952;
longitude = -122.000868;
duration = 201;
initialDepth = 912.766499;
finalDepth = 916.852258;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 112.991447 meters
#   Minimum depth: 962.766499 meters looking forward 100.000000 meters along route
#   Maximum depth: 966.801712 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 912.766499 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 = 225;
# abortOnTimeout    = True; 
initialDepth = 909.288637;
finalDepth = 912.766499;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.029128 meters
#   Minimum depth: 959.288637 meters looking forward 100.000000 meters along route
#   Maximum depth: 962.678597 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 909.288637 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773777;
longitude = -121.998492;
duration = 200;
initialDepth = 897.225060;
finalDepth = 909.288637;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.664388 meters
#   Minimum depth: 947.225060 meters looking forward 100.000000 meters along route
#   Maximum depth: 959.192622 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.225060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773758;
longitude = -121.997372;
duration = 201;
initialDepth = 896.899538;
finalDepth = 897.225060;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 129.435361 meters
#   Minimum depth: 946.899538 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.504647 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 896.899538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773739;
longitude = -121.996244;
duration = 258;
# abortOnTimeout    = True; 
initialDepth = 898.328242;
finalDepth = 896.899538;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.054478 meters
#   Minimum depth: 948.328242 meters looking forward 100.000000 meters along route
#   Maximum depth: 957.188634 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.328242 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773703;
longitude = -121.994794;
duration = 200;
initialDepth = 881.012622;
finalDepth = 898.328242;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.078900 meters
#   Minimum depth: 931.012622 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.216875 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 970.008301 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.012622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773676;
longitude = -121.993674;
duration = 200;
initialDepth = 870.508624;
finalDepth = 881.012622;
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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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;
}
# 
# 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 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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: 970.008301 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 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: 970.008301 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
{
latitude = 36.800379;
longitude = -121.969798;
duration = 600;
depth = 49.540001;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 130.0;
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 = 130.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
#######################################################
