# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Fri Jul 23 11:29:00 PDT 2004>
# 
# Mission Parameters:
#     Route File:               MAUV20040723_4.rte
#     Mission File:             MAUV20040723_4.cfg
#     Minimum Vehicle Altitude: 20.0 (m)
#     Abort Vehicle Altitude:   10.0 (m)
#     Maximum Vehicle Depth:    230.0 (m)
#     Abort Vehicle Depth:      250.0 (m)
#     Descent Vehicle Depth:    3 (m)
#     Forward Looking Distance: 800.0 (m)
#     Waypoint Spacing:         200.0 (m)
#     Start Longitude:          -121.852055 (deg)
#     Start Latitude:           36.839338 (deg)
#     GPS Duration:             600 (s)
#     Ascend Rate:              0.5 (m/s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)>
#   0 -121.858879 36.839449 -54.891700 0.000000
#   1 -121.865327 36.839449 -56.710986 574.994617
#   2 -121.865327 36.817041 -78.189180 3061.028538
#   3 -121.822897 36.806490 -39.981768 7022.939662
# 
# A total of 35 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED     1.500000
#define MISSION_DISTANCE  7022.939662
#define MISSION_TIME      4681.959775
#define MISSION_TIMEOUT   5618
#define DEPTH_MAX         230.000000
#define DEPTH_ABORT       250.000000
#define ALTITUDE_MIN      20.000000
#define ALTITUDE_ABORT    12.000000
#define GPS_DURATION      600
#define DESCENT_DEPTH     3.000000
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer 
{
timeOut = MISSION_TIMEOUT;
}
# 
# depth envelope
behavior depthEnvelope 
{
minDepth = 0;
maxDepth     = DEPTH_MAX;
abortDepth   = DEPTH_ABORT;
minAltitude  = ALTITUDE_MIN;
abortAltitude = ALTITUDE_ABORT;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = 60; 
abortOnTimeout = False; 
} 
# 
# ascend behavior 
behavior ascend  
{ 
duration  = 300; 
horizontalMode   = rudder; 
horizontal       = 10; 
pitch            = 20; 
speed            = MISSION_SPEED; 
endDepth         = 2; 
} 
# 
# Turn off power to sonars and stop logging on the PLC 
# by setting the value of the mode attribute to 0 (used to be False). 
behavior reson 
{ 
duration  = 6; 
SBP_Mode  = 0; 
LoSS_Mode = 0; 
HiSS_Mode = 0; 
Log_Mode  = 0; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 3
#   Segment length 200.744287 meters
#   Minimum depth: 39.959308 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 20.000000 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.806490; 
longitude    = -121.822897; 
captureRadius = 10; 
duration     = 160; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 3
#   Segment length 209.451712 meters
#   Minimum depth: 39.959308 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 20.000000 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.807025; 
longitude    = -121.825047; 
captureRadius = 10; 
duration     = 167; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.450219 meters
#   Minimum depth: 39.959308 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 20.000000 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.807582; 
longitude    = -121.827290; 
captureRadius = 10; 
duration     = 167; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.448726 meters
#   Minimum depth: 39.974769 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 20.000000 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.808140; 
longitude    = -121.829533; 
captureRadius = 10; 
duration     = 167; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.447234 meters
#   Minimum depth: 41.057588 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 21.057588 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.808698; 
longitude    = -121.831776; 
captureRadius = 10; 
duration     = 167; 
depth        = 21.057588; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.445740 meters
#   Minimum depth: 44.124415 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 24.124415 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809256; 
longitude    = -121.834019; 
captureRadius = 10; 
duration     = 167; 
depth        = 24.124415; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.444248 meters
#   Minimum depth: 49.313481 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 29.313481 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809813; 
longitude    = -121.836262; 
captureRadius = 10; 
duration     = 167; 
depth        = 29.313481; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.442755 meters
#   Minimum depth: 60.995543 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 40.995543 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.810371; 
longitude    = -121.838505; 
captureRadius = 10; 
duration     = 167; 
depth        = 40.995543; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.441264 meters
#   Minimum depth: 110.354760 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 90.354760 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.810929; 
longitude    = -121.840748; 
captureRadius = 10; 
duration     = 167; 
depth        = 90.354760; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.439771 meters
#   Minimum depth: 133.833279 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 113.833279 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.811487; 
longitude    = -121.842991; 
captureRadius = 10; 
duration     = 167; 
depth        = 113.833279; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.438279 meters
#   Minimum depth: 131.773302 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 111.773302 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.812044; 
longitude    = -121.845234; 
captureRadius = 10; 
duration     = 167; 
depth        = 111.773302; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.436788 meters
#   Minimum depth: 131.773302 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 111.773302 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.812602; 
longitude    = -121.847477; 
captureRadius = 10; 
duration     = 167; 
depth        = 111.773302; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.435297 meters
#   Minimum depth: 131.773302 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 111.773302 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.813160; 
longitude    = -121.849720; 
captureRadius = 10; 
duration     = 167; 
depth        = 111.773302; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.433805 meters
#   Minimum depth: 131.773302 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 111.773302 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.813718; 
longitude    = -121.851963; 
captureRadius = 10; 
duration     = 167; 
depth        = 111.773302; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.432315 meters
#   Minimum depth: 137.054158 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 117.054158 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.814275; 
longitude    = -121.854206; 
captureRadius = 10; 
duration     = 167; 
depth        = 117.054158; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.430823 meters
#   Minimum depth: 148.778590 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 128.778590 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.814833; 
longitude    = -121.856449; 
captureRadius = 10; 
duration     = 167; 
depth        = 128.778590; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.429333 meters
#   Minimum depth: 102.016687 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 82.016687 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.815391; 
longitude    = -121.858692; 
captureRadius = 10; 
duration     = 167; 
depth        = 82.016687; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 209.427843 meters
#   Minimum depth: 82.063752 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 62.063752 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.815949; 
longitude    = -121.860935; 
captureRadius = 10; 
duration     = 167; 
depth        = 62.063752; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 200.690685 meters
#   Minimum depth: 78.082468 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 58.082468 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.816507; 
longitude    = -121.863178; 
captureRadius = 10; 
duration     = 160; 
depth        = 58.082468; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Ascend, gps, descend after reaching waypoint 2 at end of line 2
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 106.492266; 
pitch        = -15; 
speed        = MISSION_SPEED; 
maxDepth     = 3; 
minAltitude  = ALTITUDE_MIN; 
duration     = 300; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = 30; 
heading      = 106.492266; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = 30; 
abortOnTimeout = False; 
} 
# 
# ascend behavior 
behavior ascend  
{ 
duration  = 300; 
horizontalMode   = rudder; 
horizontal       = 10; 
pitch            = 20; 
speed            = MISSION_SPEED; 
endDepth         = 2; 
} 
# 
# 
# Waypoint behavior to get to end of line 2
#   Segment length 82.870399 meters
#   Minimum depth: 78.082468 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 58.082468 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.817041; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 66; 
depth        = 58.082468; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 2
#   Segment length 217.531287 meters
#   Minimum depth: 78.082468 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 58.082468 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.817788; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 58.082468; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531357 meters
#   Minimum depth: 78.082468 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 58.082468 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.819749; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 58.082468; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531428 meters
#   Minimum depth: 78.143347 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 58.143347 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.821709; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 58.143347; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531498 meters
#   Minimum depth: 76.382262 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 56.382262 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.823670; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 56.382262; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531569 meters
#   Minimum depth: 76.271475 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 56.271475 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.825631; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 56.271475; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531639 meters
#   Minimum depth: 76.271475 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 56.271475 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.827592; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 56.271475; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531709 meters
#   Minimum depth: 76.271475 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 56.271475 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.829552; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 56.271475; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531781 meters
#   Minimum depth: 86.374432 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 66.374432 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.831513; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 66.374432; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531850 meters
#   Minimum depth: 106.957914 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 86.957914 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.833474; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 86.957914; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 217.531921 meters
#   Minimum depth: 101.206304 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 81.206304 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.835435; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 174; 
depth        = 81.206304; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 227.847483 meters
#   Minimum depth: 57.761346 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 37.761346 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.837395; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 182; 
depth        = 37.761346; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 1
#   Segment length 166.671314 meters
#   Minimum depth: 56.485149 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 36.485149 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839449; 
longitude    = -121.865327; 
captureRadius = 10; 
duration     = 133; 
depth        = 36.485149; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 1
#   Segment length 200.016670 meters
#   Minimum depth: 55.589906 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 35.589906 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839449; 
longitude    = -121.863458; 
captureRadius = 10; 
duration     = 160; 
depth        = 35.589906; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 208.306633 meters
#   Minimum depth: 55.164864 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 35.164864 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839449; 
longitude    = -121.861215; 
captureRadius = 10; 
duration     = 166; 
depth        = 35.164864; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 759.743130 meters
#   Minimum depth: 54.891700 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 34.891700 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839449; 
longitude    = -121.858879; 
captureRadius = 10; 
duration     = 607; 
depth        = 34.891700; 
speed        = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# Set power levels and high-freq rate 
# 
behavior reson 
{ 
duration  = 6; 
SBP_Power = 100.0; 
LoSS_Power = 100.0; 
LoSS_Range = 400.0; 
LoSS_Rate  = 1.0; 
HiSS_Power = 100.0; 
HiSS_Range = 400.0; 
HiSS_Rate  = 1.0; 
} 
# 
# Turn on power to sonars and start logging on the PLC 
# by setting the value of the mode attribute to 1 (used to be True). 
# 
behavior reson 
{ 
duration  = 6; 
SBP_Mode  = 1; 
LoSS_Mode = 1; 
HiSS_Mode = 0; 
Log_Mode  = 1; 
} 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 269.317687; 
pitch        = -15; 
speed        = MISSION_SPEED; 
maxDepth     = DESCENT_DEPTH; 
minAltitude  = ALTITUDE_MIN; 
duration     = 300; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = 30; 
heading      = 269.317687; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = 30; 
abortOnTimeout = False; 
} 
#######################################################