# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Mon Apr 18 06:09:35 PDT 2005>
# 
# Mission Summary:
#     Route File:               CoreLines.rte
#     Mission File:             CoreLines.cfg
#     Distance:                 7212.392745 (m)
#     Estimated Time:           6680 (s)  1.856 (hr)
#     Abort Time:               8016 (s)
#     Way Points:               4
#     Route Points:             71
# 
# Mission Parameters:
#     Minimum Vehicle Altitude: 18 (m)
#     Abort Vehicle Altitude:   10 (m)
#     Maximum Vehicle Depth:    350 (m)
#     Abort Vehicle Depth:      370 (m)
#     Descent Vehicle Depth:    3 (m)
#     Forward Looking Distance: 400 (m)
#     Waypoint Spacing:         100 (m)
#     Start Longitude:          -121.9201592 (deg)
#     Start Latitude:           36.8077914 (deg)
#     GPS Duration:             600 (s)
#     Ascend Rate:              0.5 (m/s)
#     Descend Duration:         300 (s)
#     Setpoint Duration:        30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.919412 36.804954 -92.400655 0.000000 1
#   1 -121.918516 36.790615 -423.550819 1592.757203 1
#   2 -121.891183 36.788599 -387.601624 4041.944948 1
#   3 -121.867062 36.809584 -77.806171 7212.392745 1
# 
# A total of 71 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED      1.500000
#define MISSION_DISTANCE   7212.392745
#define MISSION_TIME       6680
#define MISSION_TIMEOUT    8016
#define DEPTH_MAX          350.000000
#define DEPTH_ABORT        370.000000
#define ALTITUDE_MIN       18.000000
#define ALTITUDE_ABORT     10.000000
#define GPS_DURATION       600
#define DESCENT_DEPTH      3.000000
#define DESCEND_DURATION   300
#define SETPOINT_DURATION  30
#define GPSMINHITS         60
#define ASCENDRUDDER       10.000000
#define ASCENDPITCH        20.000000
#define ASCENDENDDEPTH     2.000000
#define DESCENDPITCH       -15.000000
#define MAXCROSSTRACKERROR 20
#define RESON_DURATION     6
# 
#######################################################
# 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 = GPSMINHITS; 
abortOnTimeout = False; 
} 
# 
# ascend behavior 
behavior ascend  
{ 
duration  = 300; 
horizontalMode   = rudder; 
horizontal       = ASCENDRUDDER; 
pitch            = ASCENDPITCH; 
speed            = MISSION_SPEED; 
endDepth         = ASCENDENDDEPTH; 
} 
# 
#######################################################
# 
# Waypoint behavior to get to end of line 3
#   Segment length 11.325978 meters
#   Minimum depth: 77.778045 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.778045 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809584; 
longitude    = -121.867062; 
captureRadius = 10; 
duration     = 9; 
depth        = 59.778045; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 3
#   Segment length 101.539632 meters
#   Minimum depth: 77.778045 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.778045 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809509; 
longitude    = -121.867148; 
captureRadius = 10; 
duration     = 81; 
depth        = 59.778045; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 103.010313 meters
#   Minimum depth: 77.778045 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.778045 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.808837; 
longitude    = -121.867921; 
captureRadius = 10; 
duration     = 82; 
depth        = 59.778045; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 100.070109 meters
#   Minimum depth: 77.778045 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.778045 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.808155; 
longitude    = -121.868704; 
captureRadius = 10; 
duration     = 80; 
depth        = 59.778045; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.540789 meters
#   Minimum depth: 77.919649 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.919649 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.807493; 
longitude    = -121.869466; 
captureRadius = 10; 
duration     = 81; 
depth        = 59.919649; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.541175 meters
#   Minimum depth: 79.477184 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 61.477184 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.806821; 
longitude    = -121.870238; 
captureRadius = 10; 
duration     = 81; 
depth        = 61.477184; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.541560 meters
#   Minimum depth: 82.420719 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 64.420719 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.806148; 
longitude    = -121.871011; 
captureRadius = 10; 
duration     = 81; 
depth        = 64.420719; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.541946 meters
#   Minimum depth: 96.155037 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 78.155037 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.805476; 
longitude    = -121.871784; 
captureRadius = 10; 
duration     = 81; 
depth        = 78.155037; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.542331 meters
#   Minimum depth: 121.952541 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 103.952541 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.804804; 
longitude    = -121.872556; 
captureRadius = 10; 
duration     = 81; 
depth        = 103.952541; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.542717 meters
#   Minimum depth: 146.901834 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 128.901834 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.804132; 
longitude    = -121.873329; 
captureRadius = 10; 
duration     = 81; 
depth        = 128.901834; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.543102 meters
#   Minimum depth: 168.334031 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.334031 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.803460; 
longitude    = -121.874101; 
captureRadius = 10; 
duration     = 81; 
depth        = 150.334031; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.986651 meters
#   Minimum depth: 192.681755 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 174.681755 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.802788; 
longitude    = -121.874874; 
captureRadius = 10; 
duration     = 81; 
depth        = 174.681755; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.100711 meters
#   Minimum depth: 202.916927 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 184.916927 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.802113; 
longitude    = -121.875650; 
captureRadius = 10; 
duration     = 80; 
depth        = 184.916927; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.544259 meters
#   Minimum depth: 214.868289 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 196.868289 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.801444; 
longitude    = -121.876419; 
captureRadius = 10; 
duration     = 81; 
depth        = 196.868289; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.544644 meters
#   Minimum depth: 224.913514 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 206.913514 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.800771; 
longitude    = -121.877192; 
captureRadius = 10; 
duration     = 81; 
depth        = 206.913514; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.545031 meters
#   Minimum depth: 236.486193 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 218.486193 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.800099; 
longitude    = -121.877964; 
captureRadius = 10; 
duration     = 81; 
depth        = 218.486193; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.545415 meters
#   Minimum depth: 246.397348 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 228.397348 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.799427; 
longitude    = -121.878737; 
captureRadius = 10; 
duration     = 81; 
depth        = 228.397348; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.545802 meters
#   Minimum depth: 263.442377 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 245.442377 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.798755; 
longitude    = -121.879509; 
captureRadius = 10; 
duration     = 81; 
depth        = 245.442377; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.546187 meters
#   Minimum depth: 277.339429 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 259.339429 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.798083; 
longitude    = -121.880282; 
captureRadius = 10; 
duration     = 81; 
depth        = 259.339429; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.546572 meters
#   Minimum depth: 302.272422 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 284.272422 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.797411; 
longitude    = -121.881054; 
captureRadius = 10; 
duration     = 81; 
depth        = 284.272422; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.546959 meters
#   Minimum depth: 336.397871 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 318.397871 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.796739; 
longitude    = -121.881827; 
captureRadius = 10; 
duration     = 81; 
depth        = 318.397871; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.547344 meters
#   Minimum depth: 348.965916 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 330.965916 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.796067; 
longitude    = -121.882599; 
captureRadius = 10; 
duration     = 81; 
depth        = 330.965916; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.547729 meters
#   Minimum depth: 372.388214 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.795394; 
longitude    = -121.883372; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.548115 meters
#   Minimum depth: 375.473804 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.794722; 
longitude    = -121.884145; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.548501 meters
#   Minimum depth: 374.614844 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.794050; 
longitude    = -121.884917; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.548886 meters
#   Minimum depth: 374.614844 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.793378; 
longitude    = -121.885690; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.549272 meters
#   Minimum depth: 374.614844 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.792706; 
longitude    = -121.886462; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.549658 meters
#   Minimum depth: 376.086990 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.792034; 
longitude    = -121.887235; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.550044 meters
#   Minimum depth: 380.507989 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.791362; 
longitude    = -121.888007; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.550429 meters
#   Minimum depth: 380.507989 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790690; 
longitude    = -121.888780; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 101.550814 meters
#   Minimum depth: 381.278835 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790017; 
longitude    = -121.889553; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 112.765122 meters
#   Minimum depth: 383.523443 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789345; 
longitude    = -121.890325; 
captureRadius = 10; 
duration     = 90; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 2
#   Segment length 33.483337 meters
#   Minimum depth: 384.466494 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788599; 
longitude    = -121.891183; 
captureRadius = 10; 
duration     = 26; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 2
#   Segment length 100.378030 meters
#   Minimum depth: 385.764250 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788627; 
longitude    = -121.891557; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377897 meters
#   Minimum depth: 384.954398 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788709; 
longitude    = -121.892677; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377767 meters
#   Minimum depth: 384.954398 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788792; 
longitude    = -121.893797; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377635 meters
#   Minimum depth: 384.954398 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788874; 
longitude    = -121.894917; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377504 meters
#   Minimum depth: 384.954398 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788957; 
longitude    = -121.896037; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377373 meters
#   Minimum depth: 385.113669 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789040; 
longitude    = -121.897158; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377242 meters
#   Minimum depth: 386.219759 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789122; 
longitude    = -121.898278; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377110 meters
#   Minimum depth: 388.967913 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789205; 
longitude    = -121.899398; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376980 meters
#   Minimum depth: 393.372587 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789288; 
longitude    = -121.900518; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376848 meters
#   Minimum depth: 401.213182 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789370; 
longitude    = -121.901639; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376717 meters
#   Minimum depth: 419.005534 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789453; 
longitude    = -121.902759; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376586 meters
#   Minimum depth: 443.462656 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789535; 
longitude    = -121.903879; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376455 meters
#   Minimum depth: 479.753776 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789618; 
longitude    = -121.904999; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376324 meters
#   Minimum depth: 464.877032 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789701; 
longitude    = -121.906119; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376193 meters
#   Minimum depth: 430.786969 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789783; 
longitude    = -121.907240; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376062 meters
#   Minimum depth: 406.317482 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789866; 
longitude    = -121.908360; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375931 meters
#   Minimum depth: 401.387300 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789949; 
longitude    = -121.909480; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375800 meters
#   Minimum depth: 395.782144 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790031; 
longitude    = -121.910600; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375669 meters
#   Minimum depth: 395.470123 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790114; 
longitude    = -121.911720; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375538 meters
#   Minimum depth: 395.470123 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790196; 
longitude    = -121.912841; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375408 meters
#   Minimum depth: 395.470123 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790279; 
longitude    = -121.913961; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375277 meters
#   Minimum depth: 396.341682 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790362; 
longitude    = -121.915081; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375145 meters
#   Minimum depth: 402.455209 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790444; 
longitude    = -121.916201; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 107.042917 meters
#   Minimum depth: 407.725109 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790527; 
longitude    = -121.917321; 
captureRadius = 10; 
duration     = 85; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 1
#   Segment length 107.833347 meters
#   Minimum depth: 414.612151 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790615; 
longitude    = -121.918516; 
captureRadius = 10; 
duration     = 86; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 1
#   Segment length 124.434869 meters
#   Minimum depth: 400.540506 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.791586; 
longitude    = -121.918577; 
captureRadius = 10; 
duration     = 99; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.434886 meters
#   Minimum depth: 379.646674 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.792706; 
longitude    = -121.918647; 
captureRadius = 10; 
duration     = 99; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.434903 meters
#   Minimum depth: 346.129058 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 328.129058 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.793826; 
longitude    = -121.918717; 
captureRadius = 10; 
duration     = 99; 
depth        = 328.129058; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.434919 meters
#   Minimum depth: 309.782205 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 291.782205 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.794946; 
longitude    = -121.918787; 
captureRadius = 10; 
duration     = 99; 
depth        = 291.782205; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.434935 meters
#   Minimum depth: 273.143872 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 255.143872 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.796067; 
longitude    = -121.918857; 
captureRadius = 10; 
duration     = 99; 
depth        = 255.143872; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.434953 meters
#   Minimum depth: 240.240548 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 222.240548 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.797187; 
longitude    = -121.918927; 
captureRadius = 10; 
duration     = 99; 
depth        = 222.240548; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.434968 meters
#   Minimum depth: 204.922512 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 186.922512 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.798307; 
longitude    = -121.918997; 
captureRadius = 10; 
duration     = 99; 
depth        = 186.922512; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.434986 meters
#   Minimum depth: 170.897111 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 152.897111 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.799427; 
longitude    = -121.919067; 
captureRadius = 10; 
duration     = 99; 
depth        = 152.897111; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.435002 meters
#   Minimum depth: 124.828868 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 106.828868 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.800547; 
longitude    = -121.919137; 
captureRadius = 10; 
duration     = 99; 
depth        = 106.828868; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.435019 meters
#   Minimum depth: 96.204032 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 78.204032 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.801668; 
longitude    = -121.919207; 
captureRadius = 10; 
duration     = 99; 
depth        = 78.204032; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 124.435035 meters
#   Minimum depth: 93.291165 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 75.291165 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.802788; 
longitude    = -121.919277; 
captureRadius = 10; 
duration     = 99; 
depth        = 75.291165; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 116.139381 meters
#   Minimum depth: 92.492709 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 74.492709 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.803908; 
longitude    = -121.919347; 
captureRadius = 10; 
duration     = 92; 
depth        = 74.492709; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 324.582067 meters
#   Minimum depth: 92.400655 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 74.400655 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.804954; 
longitude    = -121.919412; 
captureRadius = 10; 
duration     = 259; 
depth        = 74.400655; 
speed        = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 45.000000; 
pitch        = DESCENDPITCH; 
speed        = MISSION_SPEED; 
maxDepth     = DESCENT_DEPTH; 
minAltitude  = ALTITUDE_MIN; 
duration     = DESCEND_DURATION; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = SETPOINT_DURATION; 
heading      = 45.000000; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = False; 
} 
#######################################################