# 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 06:38:43 PDT 2004>
# 
# Mission Parameters:
#     Route File:               MAUV20040723.rte
#     Mission File:             MAUV20040723.cfg
#     Minimum Vehicle Altitude: 12.0 (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:          -121.830575 (deg)
#     Start Latitude:           36.7737 (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 -121.830575 36.776005 -33.397219 0.000000
#   1 -121.829629 36.839122 -31.241765 7002.994967
#   2 -121.840842 36.839230 -32.046926 8002.985590
#   3 -121.841779 36.776114 -48.137547 15005.842192
#   4 -121.852983 36.776220 -65.027754 16005.844054
#   5 -121.852055 36.839338 -45.003662 23008.895363
#   6 -121.858783 36.839401 -54.891700 23608.900959
#   7 -121.859705 36.776284 -72.740435 30611.824530
# 
# A total of 146 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED     1.500000
#define MISSION_DISTANCE  30611.824530
#define MISSION_TIME      20407.883020
#define MISSION_TIMEOUT   24489
#define DEPTH_MAX         230.000000
#define DEPTH_ABORT       250.000000
#define ALTITUDE_MIN      12.000000
#define ALTITUDE_ABORT    10.000000
#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 7
#   Segment length 36.454626 meters
#   Minimum depth: 72.676626 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 60.676626 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776284; 
longitude    = -121.859705; 
captureRadius = 10; 
duration     = 29; 
depth        = 60.676626; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 7
#   Segment length 217.545099 meters
#   Minimum depth: 72.676626 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 60.676626 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776613; 
longitude    = -121.859700; 
captureRadius = 10; 
duration     = 174; 
depth        = 60.676626; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545170 meters
#   Minimum depth: 72.676626 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 60.676626 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.778573; 
longitude    = -121.859672; 
captureRadius = 10; 
duration     = 174; 
depth        = 60.676626; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545242 meters
#   Minimum depth: 72.676626 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 60.676626 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.780534; 
longitude    = -121.859643; 
captureRadius = 10; 
duration     = 174; 
depth        = 60.676626; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545312 meters
#   Minimum depth: 73.114639 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 61.114639 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.782495; 
longitude    = -121.859614; 
captureRadius = 10; 
duration     = 174; 
depth        = 61.114639; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545383 meters
#   Minimum depth: 75.005808 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 63.005808 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.784455; 
longitude    = -121.859586; 
captureRadius = 10; 
duration     = 174; 
depth        = 63.005808; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545455 meters
#   Minimum depth: 78.766472 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 66.766472 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.786416; 
longitude    = -121.859557; 
captureRadius = 10; 
duration     = 174; 
depth        = 66.766472; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545525 meters
#   Minimum depth: 120.985249 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 108.985249 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.788377; 
longitude    = -121.859528; 
captureRadius = 10; 
duration     = 174; 
depth        = 108.985249; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545597 meters
#   Minimum depth: 171.235432 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 159.235432 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.790338; 
longitude    = -121.859500; 
captureRadius = 10; 
duration     = 174; 
depth        = 159.235432; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545668 meters
#   Minimum depth: 211.882020 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 199.882020 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.792298; 
longitude    = -121.859471; 
captureRadius = 10; 
duration     = 174; 
depth        = 199.882020; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545738 meters
#   Minimum depth: 225.398252 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 213.398252 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.794259; 
longitude    = -121.859442; 
captureRadius = 10; 
duration     = 174; 
depth        = 213.398252; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545810 meters
#   Minimum depth: 242.955588 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 230.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.796220; 
longitude    = -121.859414; 
captureRadius = 10; 
duration     = 174; 
depth        = 230.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545881 meters
#   Minimum depth: 247.871844 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 230.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.798181; 
longitude    = -121.859385; 
captureRadius = 10; 
duration     = 174; 
depth        = 230.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.545952 meters
#   Minimum depth: 261.433137 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 230.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.800141; 
longitude    = -121.859356; 
captureRadius = 10; 
duration     = 174; 
depth        = 230.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546023 meters
#   Minimum depth: 290.520692 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 230.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.802102; 
longitude    = -121.859328; 
captureRadius = 10; 
duration     = 174; 
depth        = 230.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546094 meters
#   Minimum depth: 259.210991 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 230.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.804063; 
longitude    = -121.859299; 
captureRadius = 10; 
duration     = 174; 
depth        = 230.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546165 meters
#   Minimum depth: 224.233060 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 212.233060 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.806024; 
longitude    = -121.859271; 
captureRadius = 10; 
duration     = 174; 
depth        = 212.233060; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546237 meters
#   Minimum depth: 180.878756 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 168.878756 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.807984; 
longitude    = -121.859242; 
captureRadius = 10; 
duration     = 174; 
depth        = 168.878756; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546307 meters
#   Minimum depth: 164.033943 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 152.033943 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809945; 
longitude    = -121.859213; 
captureRadius = 10; 
duration     = 174; 
depth        = 152.033943; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546379 meters
#   Minimum depth: 144.379199 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 132.379199 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.811906; 
longitude    = -121.859185; 
captureRadius = 10; 
duration     = 174; 
depth        = 132.379199; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546449 meters
#   Minimum depth: 133.366912 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 121.366912 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.813866; 
longitude    = -121.859156; 
captureRadius = 10; 
duration     = 174; 
depth        = 121.366912; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546521 meters
#   Minimum depth: 132.972043 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 120.972043 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.815827; 
longitude    = -121.859127; 
captureRadius = 10; 
duration     = 174; 
depth        = 120.972043; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546592 meters
#   Minimum depth: 125.641444 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 113.641444 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.817788; 
longitude    = -121.859099; 
captureRadius = 10; 
duration     = 174; 
depth        = 113.641444; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546662 meters
#   Minimum depth: 119.303051 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 107.303051 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.819749; 
longitude    = -121.859070; 
captureRadius = 10; 
duration     = 174; 
depth        = 107.303051; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546734 meters
#   Minimum depth: 109.773427 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 97.773427 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.821709; 
longitude    = -121.859041; 
captureRadius = 10; 
duration     = 174; 
depth        = 97.773427; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546805 meters
#   Minimum depth: 105.973443 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 93.973443 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.823670; 
longitude    = -121.859013; 
captureRadius = 10; 
duration     = 174; 
depth        = 93.973443; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546876 meters
#   Minimum depth: 105.973443 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 93.973443 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.825631; 
longitude    = -121.858984; 
captureRadius = 10; 
duration     = 174; 
depth        = 93.973443; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.546948 meters
#   Minimum depth: 95.266351 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 83.266351 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.827592; 
longitude    = -121.858956; 
captureRadius = 10; 
duration     = 174; 
depth        = 83.266351; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.547018 meters
#   Minimum depth: 81.924871 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 69.924871 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.829552; 
longitude    = -121.858927; 
captureRadius = 10; 
duration     = 174; 
depth        = 69.924871; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.547089 meters
#   Minimum depth: 72.383449 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 60.383449 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.831513; 
longitude    = -121.858898; 
captureRadius = 10; 
duration     = 174; 
depth        = 60.383449; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.547161 meters
#   Minimum depth: 64.969187 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 52.969187 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.833474; 
longitude    = -121.858870; 
captureRadius = 10; 
duration     = 174; 
depth        = 52.969187; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 217.547232 meters
#   Minimum depth: 59.373061 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 47.373061 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.835435; 
longitude    = -121.858841; 
captureRadius = 10; 
duration     = 174; 
depth        = 47.373061; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 7
#   Segment length 222.537821 meters
#   Minimum depth: 55.126909 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 43.126909 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.837395; 
longitude    = -121.858812; 
captureRadius = 10; 
duration     = 178; 
depth        = 43.126909; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 6
#   Segment length 183.178852 meters
#   Minimum depth: 51.299771 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 39.299771 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839401; 
longitude    = -121.858783; 
captureRadius = 10; 
duration     = 146; 
depth        = 39.299771; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 6
#   Segment length 200.030746 meters
#   Minimum depth: 51.299771 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 39.299771 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839382; 
longitude    = -121.856729; 
captureRadius = 10; 
duration     = 160; 
depth        = 39.299771; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 6
#   Segment length 216.795998 meters
#   Minimum depth: 45.094814 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 33.094814 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839361; 
longitude    = -121.854486; 
captureRadius = 10; 
duration     = 173; 
depth        = 33.094814; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Ascend, gps, descend after reaching waypoint 5 at end of line 5
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 269.981137; 
pitch        = -15; 
speed        = MISSION_SPEED; 
maxDepth     = 3; 
minAltitude  = ALTITUDE_MIN; 
duration     = 300; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = 30; 
heading      = 269.981137; 
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 5
#   Segment length 29.078800 meters
#   Minimum depth: 45.003662 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 33.003662 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839338; 
longitude    = -121.852055; 
captureRadius = 10; 
duration     = 23; 
depth        = 33.003662; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 5
#   Segment length 217.547816 meters
#   Minimum depth: 45.003662 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 33.003662 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839076; 
longitude    = -121.852059; 
captureRadius = 10; 
duration     = 174; 
depth        = 33.003662; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547745 meters
#   Minimum depth: 45.003662 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 33.003662 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.837115; 
longitude    = -121.852088; 
captureRadius = 10; 
duration     = 174; 
depth        = 33.003662; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547674 meters
#   Minimum depth: 45.003662 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 33.003662 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.835154; 
longitude    = -121.852117; 
captureRadius = 10; 
duration     = 174; 
depth        = 33.003662; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547603 meters
#   Minimum depth: 46.993806 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 34.993806 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.833194; 
longitude    = -121.852145; 
captureRadius = 10; 
duration     = 174; 
depth        = 34.993806; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547532 meters
#   Minimum depth: 51.985381 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 39.985381 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.831233; 
longitude    = -121.852174; 
captureRadius = 10; 
duration     = 174; 
depth        = 39.985381; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547460 meters
#   Minimum depth: 57.133798 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 45.133798 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.829272; 
longitude    = -121.852203; 
captureRadius = 10; 
duration     = 174; 
depth        = 45.133798; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547390 meters
#   Minimum depth: 62.606987 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 50.606987 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.827312; 
longitude    = -121.852232; 
captureRadius = 10; 
duration     = 174; 
depth        = 50.606987; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547319 meters
#   Minimum depth: 68.114410 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 56.114410 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.825351; 
longitude    = -121.852261; 
captureRadius = 10; 
duration     = 174; 
depth        = 56.114410; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547247 meters
#   Minimum depth: 76.697342 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 64.697342 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.823390; 
longitude    = -121.852289; 
captureRadius = 10; 
duration     = 174; 
depth        = 64.697342; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547176 meters
#   Minimum depth: 88.590334 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 76.590334 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.821429; 
longitude    = -121.852318; 
captureRadius = 10; 
duration     = 174; 
depth        = 76.590334; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547106 meters
#   Minimum depth: 98.585228 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 86.585228 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.819469; 
longitude    = -121.852347; 
captureRadius = 10; 
duration     = 174; 
depth        = 86.585228; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.547034 meters
#   Minimum depth: 109.249399 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 97.249399 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.817508; 
longitude    = -121.852376; 
captureRadius = 10; 
duration     = 174; 
depth        = 97.249399; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546963 meters
#   Minimum depth: 122.509127 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 110.509127 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.815547; 
longitude    = -121.852405; 
captureRadius = 10; 
duration     = 174; 
depth        = 110.509127; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546892 meters
#   Minimum depth: 137.038276 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 125.038276 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.813586; 
longitude    = -121.852434; 
captureRadius = 10; 
duration     = 174; 
depth        = 125.038276; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546821 meters
#   Minimum depth: 147.696864 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 135.696864 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.811626; 
longitude    = -121.852462; 
captureRadius = 10; 
duration     = 174; 
depth        = 135.696864; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546750 meters
#   Minimum depth: 157.286878 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 145.286878 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809665; 
longitude    = -121.852491; 
captureRadius = 10; 
duration     = 174; 
depth        = 145.286878; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546679 meters
#   Minimum depth: 168.315098 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 156.315098 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.807704; 
longitude    = -121.852520; 
captureRadius = 10; 
duration     = 174; 
depth        = 156.315098; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546608 meters
#   Minimum depth: 183.529426 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 171.529426 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.805743; 
longitude    = -121.852549; 
captureRadius = 10; 
duration     = 174; 
depth        = 171.529426; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546536 meters
#   Minimum depth: 184.394006 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 172.394006 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.803783; 
longitude    = -121.852578; 
captureRadius = 10; 
duration     = 174; 
depth        = 172.394006; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546466 meters
#   Minimum depth: 188.233049 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 176.233049 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.801822; 
longitude    = -121.852607; 
captureRadius = 10; 
duration     = 174; 
depth        = 176.233049; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546394 meters
#   Minimum depth: 219.419688 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 207.419688 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.799861; 
longitude    = -121.852635; 
captureRadius = 10; 
duration     = 174; 
depth        = 207.419688; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546324 meters
#   Minimum depth: 260.175443 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 230.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.797901; 
longitude    = -121.852664; 
captureRadius = 10; 
duration     = 174; 
depth        = 230.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546252 meters
#   Minimum depth: 216.878664 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 204.878664 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.795940; 
longitude    = -121.852693; 
captureRadius = 10; 
duration     = 174; 
depth        = 204.878664; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546182 meters
#   Minimum depth: 211.130728 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 199.130728 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.793979; 
longitude    = -121.852722; 
captureRadius = 10; 
duration     = 174; 
depth        = 199.130728; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546110 meters
#   Minimum depth: 207.893267 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 195.893267 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.792018; 
longitude    = -121.852751; 
captureRadius = 10; 
duration     = 174; 
depth        = 195.893267; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.546039 meters
#   Minimum depth: 191.304327 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 179.304327 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.790058; 
longitude    = -121.852780; 
captureRadius = 10; 
duration     = 174; 
depth        = 179.304327; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.545968 meters
#   Minimum depth: 166.795104 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 154.795104 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.788097; 
longitude    = -121.852808; 
captureRadius = 10; 
duration     = 174; 
depth        = 154.795104; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.545897 meters
#   Minimum depth: 119.067800 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 107.067800 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.786136; 
longitude    = -121.852837; 
captureRadius = 10; 
duration     = 174; 
depth        = 107.067800; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.545827 meters
#   Minimum depth: 74.912742 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 62.912742 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.784175; 
longitude    = -121.852866; 
captureRadius = 10; 
duration     = 174; 
depth        = 62.912742; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.545755 meters
#   Minimum depth: 68.833620 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 56.833620 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.782215; 
longitude    = -121.852895; 
captureRadius = 10; 
duration     = 174; 
depth        = 56.833620; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 217.545683 meters
#   Minimum depth: 67.040588 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 55.040588 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.780254; 
longitude    = -121.852924; 
captureRadius = 10; 
duration     = 174; 
depth        = 55.040588; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 5
#   Segment length 230.023261 meters
#   Minimum depth: 65.111874 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 53.111874 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.778293; 
longitude    = -121.852953; 
captureRadius = 10; 
duration     = 184; 
depth        = 53.111874; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 4
#   Segment length 191.170930 meters
#   Minimum depth: 63.435129 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 51.435129 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776220; 
longitude    = -121.852983; 
captureRadius = 10; 
duration     = 152; 
depth        = 51.435129; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 4
#   Segment length 200.195734 meters
#   Minimum depth: 61.186713 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 49.186713 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776200; 
longitude    = -121.850841; 
captureRadius = 10; 
duration     = 160; 
depth        = 49.186713; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 200.195890 meters
#   Minimum depth: 58.099001 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 46.099001 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776179; 
longitude    = -121.848598; 
captureRadius = 10; 
duration     = 160; 
depth        = 46.099001; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 200.196047 meters
#   Minimum depth: 53.177078 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 41.177078 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776157; 
longitude    = -121.846355; 
captureRadius = 10; 
duration     = 160; 
depth        = 41.177078; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 208.243261 meters
#   Minimum depth: 48.297515 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 36.297515 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776136; 
longitude    = -121.844112; 
captureRadius = 10; 
duration     = 166; 
depth        = 36.297515; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Ascend, gps, descend after reaching waypoint 3 at end of line 3
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 269.983691; 
pitch        = -15; 
speed        = MISSION_SPEED; 
maxDepth     = 3; 
minAltitude  = ALTITUDE_MIN; 
duration     = 300; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = 30; 
heading      = 269.983691; 
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 3
#   Segment length 55.316625 meters
#   Minimum depth: 48.137547 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 36.137547 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776114; 
longitude    = -121.841779; 
captureRadius = 10; 
duration     = 44; 
depth        = 36.137547; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 3
#   Segment length 217.546472 meters
#   Minimum depth: 48.137547 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 36.137547 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776613; 
longitude    = -121.841772; 
captureRadius = 10; 
duration     = 174; 
depth        = 36.137547; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.546543 meters
#   Minimum depth: 48.137547 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 36.137547 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.778573; 
longitude    = -121.841742; 
captureRadius = 10; 
duration     = 174; 
depth        = 36.137547; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.546614 meters
#   Minimum depth: 48.137547 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 36.137547 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.780534; 
longitude    = -121.841713; 
captureRadius = 10; 
duration     = 174; 
depth        = 36.137547; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.546685 meters
#   Minimum depth: 50.627203 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 38.627203 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.782495; 
longitude    = -121.841684; 
captureRadius = 10; 
duration     = 174; 
depth        = 38.627203; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.546757 meters
#   Minimum depth: 52.376009 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 40.376009 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.784455; 
longitude    = -121.841655; 
captureRadius = 10; 
duration     = 174; 
depth        = 40.376009; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.546827 meters
#   Minimum depth: 56.442011 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 44.442011 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.786416; 
longitude    = -121.841626; 
captureRadius = 10; 
duration     = 174; 
depth        = 44.442011; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.546898 meters
#   Minimum depth: 59.575528 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 47.575528 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.788377; 
longitude    = -121.841597; 
captureRadius = 10; 
duration     = 174; 
depth        = 47.575528; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.546969 meters
#   Minimum depth: 88.604672 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 76.604672 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.790338; 
longitude    = -121.841568; 
captureRadius = 10; 
duration     = 174; 
depth        = 76.604672; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547041 meters
#   Minimum depth: 158.721697 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 146.721697 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.792298; 
longitude    = -121.841539; 
captureRadius = 10; 
duration     = 174; 
depth        = 146.721697; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547111 meters
#   Minimum depth: 203.043215 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 191.043215 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.794259; 
longitude    = -121.841510; 
captureRadius = 10; 
duration     = 174; 
depth        = 191.043215; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547183 meters
#   Minimum depth: 186.890415 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 174.890415 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.796220; 
longitude    = -121.841481; 
captureRadius = 10; 
duration     = 174; 
depth        = 174.890415; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547253 meters
#   Minimum depth: 127.380355 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 115.380355 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.798181; 
longitude    = -121.841451; 
captureRadius = 10; 
duration     = 174; 
depth        = 115.380355; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547325 meters
#   Minimum depth: 87.151410 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 75.151410 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.800141; 
longitude    = -121.841422; 
captureRadius = 10; 
duration     = 174; 
depth        = 75.151410; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547395 meters
#   Minimum depth: 87.151410 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 75.151410 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.802102; 
longitude    = -121.841393; 
captureRadius = 10; 
duration     = 174; 
depth        = 75.151410; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547467 meters
#   Minimum depth: 87.151410 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 75.151410 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.804063; 
longitude    = -121.841364; 
captureRadius = 10; 
duration     = 174; 
depth        = 75.151410; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547538 meters
#   Minimum depth: 87.151410 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 75.151410 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.806024; 
longitude    = -121.841335; 
captureRadius = 10; 
duration     = 174; 
depth        = 75.151410; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547609 meters
#   Minimum depth: 109.045151 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 97.045151 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.807984; 
longitude    = -121.841306; 
captureRadius = 10; 
duration     = 174; 
depth        = 97.045151; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547679 meters
#   Minimum depth: 140.653808 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 128.653808 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809945; 
longitude    = -121.841277; 
captureRadius = 10; 
duration     = 174; 
depth        = 128.653808; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547751 meters
#   Minimum depth: 130.049102 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 118.049102 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.811906; 
longitude    = -121.841248; 
captureRadius = 10; 
duration     = 174; 
depth        = 118.049102; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547822 meters
#   Minimum depth: 117.104461 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 105.104461 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.813866; 
longitude    = -121.841219; 
captureRadius = 10; 
duration     = 174; 
depth        = 105.104461; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547893 meters
#   Minimum depth: 92.694754 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 80.694754 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.815827; 
longitude    = -121.841189; 
captureRadius = 10; 
duration     = 174; 
depth        = 80.694754; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.547964 meters
#   Minimum depth: 76.430973 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 64.430973 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.817788; 
longitude    = -121.841160; 
captureRadius = 10; 
duration     = 174; 
depth        = 64.430973; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548036 meters
#   Minimum depth: 61.306959 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 49.306959 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.819749; 
longitude    = -121.841131; 
captureRadius = 10; 
duration     = 174; 
depth        = 49.306959; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548106 meters
#   Minimum depth: 59.295620 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 47.295620 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.821709; 
longitude    = -121.841102; 
captureRadius = 10; 
duration     = 174; 
depth        = 47.295620; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548177 meters
#   Minimum depth: 56.186637 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 44.186637 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.823670; 
longitude    = -121.841073; 
captureRadius = 10; 
duration     = 174; 
depth        = 44.186637; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548249 meters
#   Minimum depth: 53.331960 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 41.331960 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.825631; 
longitude    = -121.841044; 
captureRadius = 10; 
duration     = 174; 
depth        = 41.331960; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548319 meters
#   Minimum depth: 49.939771 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 37.939771 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.827592; 
longitude    = -121.841015; 
captureRadius = 10; 
duration     = 174; 
depth        = 37.939771; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548391 meters
#   Minimum depth: 47.258598 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 35.258598 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.829552; 
longitude    = -121.840986; 
captureRadius = 10; 
duration     = 174; 
depth        = 35.258598; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548461 meters
#   Minimum depth: 43.047545 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 31.047545 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.831513; 
longitude    = -121.840957; 
captureRadius = 10; 
duration     = 174; 
depth        = 31.047545; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548533 meters
#   Minimum depth: 37.406310 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 25.406310 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.833474; 
longitude    = -121.840927; 
captureRadius = 10; 
duration     = 174; 
depth        = 25.406310; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 217.548604 meters
#   Minimum depth: 34.875562 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 22.875562 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.835435; 
longitude    = -121.840898; 
captureRadius = 10; 
duration     = 174; 
depth        = 22.875562; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 203.566305 meters
#   Minimum depth: 32.125331 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 20.125331 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.837395; 
longitude    = -121.840869; 
captureRadius = 10; 
duration     = 162; 
depth        = 20.125331; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 2
#   Segment length 183.441599 meters
#   Minimum depth: 30.015622 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 18.015622 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839230; 
longitude    = -121.840842; 
captureRadius = 10; 
duration     = 146; 
depth        = 18.015622; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 2
#   Segment length 200.032792 meters
#   Minimum depth: 27.072293 meters looking forward 800.000000 meters along route
#   Maximum vehicle depth: 230.000000 meters
#   Minimum vehicle altitude: 12.000000 meters
#   Behavior depth of 15.072293 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.839210; 
longitude    = -121.838785; 
captureRadius = 10; 
duration     = 160; 
depth        = 15.072293; 
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   = 270; 
pitch        = -15; 
speed        = MISSION_SPEED; 
maxDepth     = DESCENT_DEPTH; 
minAltitude  = ALTITUDE_MIN; 
duration     = 300; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = 30; 
heading      = 270; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = 30; 
abortOnTimeout = False; 
} 
#######################################################