# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Thu Jul 22 07:46:28 PDT 2004>
# 
# Mission Parameters:
#     Route File:               MAUV20040722.rte
#     Mission File:             MAUV20040722.cfg
#     Minimum Vehicle Altitude: 20.0 (m)
#     Abort Vehicle Altitude:   12.0 (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:          -121.855465 (deg)
#     Start Latitude:           36.776263 (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 -121.857465 36.776263 -70.059111 0.000000
#   1 -121.856540 36.839380 -87.755463 7002.930211
#   2 -121.845327 36.839273 -35.880672 8002.913992
#   3 -121.846261 36.776156 -57.142509 15005.871269
#   4 -121.828334 36.775984 -34.552099 16605.936632
#   5 -121.827386 36.839100 -34.228960 23608.826396
# 
# A total of 113 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED     1.500000
#define MISSION_DISTANCE  23608.826396
#define MISSION_TIME      15739.217597
#define MISSION_TIMEOUT   18887
#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 5
#   Segment length 33.750706 meters
#   Minimum depth: 34.228960 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     = 36.839100; 
longitude    = -121.827386; 
captureRadius = 10; 
duration     = 27; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 5
#   Segment length 217.549689 meters
#   Minimum depth: 19.430801 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     = 36.838796; 
longitude    = -121.827391; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549618 meters
#   Minimum depth: 19.430801 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     = 36.836835; 
longitude    = -121.827420; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549547 meters
#   Minimum depth: 19.430801 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     = 36.834874; 
longitude    = -121.827449; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549476 meters
#   Minimum depth: 19.430801 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     = 36.832914; 
longitude    = -121.827479; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549405 meters
#   Minimum depth: 23.661025 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     = 36.830953; 
longitude    = -121.827508; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549334 meters
#   Minimum depth: 24.330023 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     = 36.828992; 
longitude    = -121.827538; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549263 meters
#   Minimum depth: 28.000834 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     = 36.827031; 
longitude    = -121.827567; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549192 meters
#   Minimum depth: 32.356880 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     = 36.825071; 
longitude    = -121.827597; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549120 meters
#   Minimum depth: 35.988301 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     = 36.823110; 
longitude    = -121.827626; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.549050 meters
#   Minimum depth: 38.310851 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     = 36.821149; 
longitude    = -121.827656; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548979 meters
#   Minimum depth: 40.611763 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 20.611763 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.819188; 
longitude    = -121.827685; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.611763; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548907 meters
#   Minimum depth: 42.910886 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 22.910886 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.817228; 
longitude    = -121.827715; 
captureRadius = 10; 
duration     = 174; 
depth        = 22.910886; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548837 meters
#   Minimum depth: 44.154474 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 24.154474 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.815267; 
longitude    = -121.827744; 
captureRadius = 10; 
duration     = 174; 
depth        = 24.154474; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548765 meters
#   Minimum depth: 44.154474 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 24.154474 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.813306; 
longitude    = -121.827773; 
captureRadius = 10; 
duration     = 174; 
depth        = 24.154474; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548695 meters
#   Minimum depth: 45.141921 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 25.141921 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.811346; 
longitude    = -121.827803; 
captureRadius = 10; 
duration     = 174; 
depth        = 25.141921; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548623 meters
#   Minimum depth: 44.183371 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 24.183371 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809385; 
longitude    = -121.827832; 
captureRadius = 10; 
duration     = 174; 
depth        = 24.183371; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548552 meters
#   Minimum depth: 43.751904 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 23.751904 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.807424; 
longitude    = -121.827862; 
captureRadius = 10; 
duration     = 174; 
depth        = 23.751904; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548482 meters
#   Minimum depth: 43.751904 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 23.751904 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.805463; 
longitude    = -121.827891; 
captureRadius = 10; 
duration     = 174; 
depth        = 23.751904; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548410 meters
#   Minimum depth: 43.751904 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 23.751904 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.803503; 
longitude    = -121.827921; 
captureRadius = 10; 
duration     = 174; 
depth        = 23.751904; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548339 meters
#   Minimum depth: 43.751904 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 23.751904 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.801542; 
longitude    = -121.827950; 
captureRadius = 10; 
duration     = 174; 
depth        = 23.751904; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548268 meters
#   Minimum depth: 45.176274 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 25.176274 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.799581; 
longitude    = -121.827980; 
captureRadius = 10; 
duration     = 174; 
depth        = 25.176274; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548198 meters
#   Minimum depth: 46.581510 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 26.581510 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.797620; 
longitude    = -121.828009; 
captureRadius = 10; 
duration     = 174; 
depth        = 26.581510; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548126 meters
#   Minimum depth: 49.402284 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 29.402284 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.795660; 
longitude    = -121.828038; 
captureRadius = 10; 
duration     = 174; 
depth        = 29.402284; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.548055 meters
#   Minimum depth: 53.959695 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 33.959695 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.793699; 
longitude    = -121.828068; 
captureRadius = 10; 
duration     = 174; 
depth        = 33.959695; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547984 meters
#   Minimum depth: 85.245057 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 65.245057 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.791738; 
longitude    = -121.828097; 
captureRadius = 10; 
duration     = 174; 
depth        = 65.245057; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547913 meters
#   Minimum depth: 119.976831 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 99.976831 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.789777; 
longitude    = -121.828127; 
captureRadius = 10; 
duration     = 174; 
depth        = 99.976831; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547842 meters
#   Minimum depth: 143.757826 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 123.757826 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.787817; 
longitude    = -121.828156; 
captureRadius = 10; 
duration     = 174; 
depth        = 123.757826; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547771 meters
#   Minimum depth: 74.257126 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 54.257126 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.785856; 
longitude    = -121.828186; 
captureRadius = 10; 
duration     = 174; 
depth        = 54.257126; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547700 meters
#   Minimum depth: 43.906147 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 23.906147 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.783895; 
longitude    = -121.828215; 
captureRadius = 10; 
duration     = 174; 
depth        = 23.906147; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547629 meters
#   Minimum depth: 41.826163 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 21.826163 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.781935; 
longitude    = -121.828245; 
captureRadius = 10; 
duration     = 174; 
depth        = 21.826163; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547558 meters
#   Minimum depth: 40.298292 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 20.298292 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.779974; 
longitude    = -121.828274; 
captureRadius = 10; 
duration     = 174; 
depth        = 20.298292; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 225.131731 meters
#   Minimum depth: 34.508006 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     = 36.778013; 
longitude    = -121.828304; 
captureRadius = 10; 
duration     = 180; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 4
#   Segment length 182.064670 meters
#   Minimum depth: 33.541524 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     = 36.775984; 
longitude    = -121.828334; 
captureRadius = 10; 
duration     = 145; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 4
#   Segment length 200.197412 meters
#   Minimum depth: 33.511401 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     = 36.776004; 
longitude    = -121.830374; 
captureRadius = 10; 
duration     = 160; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 200.197253 meters
#   Minimum depth: 33.511401 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     = 36.776025; 
longitude    = -121.832617; 
captureRadius = 10; 
duration     = 160; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 200.197094 meters
#   Minimum depth: 33.511401 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     = 36.776047; 
longitude    = -121.834860; 
captureRadius = 10; 
duration     = 160; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 200.196936 meters
#   Minimum depth: 33.595230 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     = 36.776068; 
longitude    = -121.837103; 
captureRadius = 10; 
duration     = 160; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 200.196778 meters
#   Minimum depth: 35.845200 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     = 36.776090; 
longitude    = -121.839346; 
captureRadius = 10; 
duration     = 160; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 200.196620 meters
#   Minimum depth: 38.473601 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     = 36.776111; 
longitude    = -121.841589; 
captureRadius = 10; 
duration     = 160; 
depth        = 20.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 216.818600 meters
#   Minimum depth: 41.244130 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 20.000000 meters
#   Behavior depth of 21.244130 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776133; 
longitude    = -121.843832; 
captureRadius = 10; 
duration     = 600; 
depth        = 21.244130; 
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   = 180; 
pitch        = -15; 
speed        = MISSION_SPEED; 
maxDepth     = DESCENT_DEPTH; 
minAltitude  = ALTITUDE_MIN; 
duration     = 300; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = 30; 
heading      = 180; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = 30; 
abortOnTimeout = False; 
} 
#######################################################