# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <maury> at <Tue Apr  4 07:21:27 PDT 2006>
# 
# Mission Summary:
#     Route File:               20060404test0s.rte
#     Mission File:             20060404test0s.cfg
#     Distance:                 1471.445143 (m)
#     Estimated Time:           2941 (s)  0.817 (hr)
#     Abort Time:               3823 (s)
#     Way Points:               2
#     Route Points:             28
#     Mapping sonar control enabled:          
# 
# Mission Parameters:
#     Desired Vehicle Altitude: 30 (m)
#     Minimum Vehicle Altitude: 30 (m)
#     Abort Vehicle Altitude:   15 (m)
#     Maximum Vehicle Depth:    450 (m)
#     Abort Vehicle Depth:      500 (m)
#     Descent Vehicle Depth:    3 (m)
#     Forward Looking Distance: 200 (m)
#     Waypoint Spacing:         50 (m)
#     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 -121.853171 36.770937 -61.798625 0.000000 1
#   1 -121.860228 36.758950 -63.929525 1471.445143 1
# 
# A total of 28 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED      1.500000
#define MISSION_DISTANCE   1471.445143
#define MISSION_TIME       2941
#define MISSION_TIMEOUT    3823
#define DEPTH_MAX          450.000000
#define DEPTH_ABORT        500.000000
#define ALTITUDE_DESIRED   30.000000
#define ALTITUDE_MIN       30.000000
#define ALTITUDE_ABORT     15.000000
#define GPS_DURATION       600
#define DESCENT_DEPTH      3.000000
#define DESCEND_DURATION   300
#define SETPOINT_DURATION  30
#define GPSMINHITS         30
#define ASCENDRUDDER       5.000000
#define ASCENDPITCH        20.000000
#define ASCENDENDDEPTH     2.000000
#define DESCENDPITCH       -15.000000
#define MAXCROSSTRACKERROR 30
#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 = True; 
} 
# 
# ascend behavior 
behavior ascend  
{ 
duration  = 300; 
horizontalMode   = rudder; 
horizontal       = ASCENDRUDDER; 
pitch            = ASCENDPITCH; 
speed            = MISSION_SPEED; 
endDepth         = ASCENDENDDEPTH; 
} 
# 
# 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  = RESON_DURATION; 
MB_Power = 0; 
SBP_Mode  = 0; 
LoSS_Mode = 0; 
HiSS_Mode = 0; 
Log_Mode  = 0; 
} 
#######################################################
# 
# 
# Waypoint behavior to get to end of line 1
#   Segment length 45.839975 meters
#   Minimum depth: 63.424452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 33.424452 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.758950; 
longitude    = -121.860228; 
captureRadius = 10; 
duration     = 45; 
depth        = 33.424452; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.505073
#   Altitude Set: 30.505073
#   Vehicle Depth:33.424452 
#   Seafloor Depth:-63.929525
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.21; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.25; 
MB_Bottom_Detect_Filter_Max_Range = 73.21; 
MB_Bottom_Detect_Filter_Min_Depth = 15.25; 
MB_Bottom_Detect_Filter_Max_Depth = 73.21; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.371731 meters
#   Minimum depth: 63.287298 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 33.287298 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.759324; 
longitude    = -121.860008; 
captureRadius = 10; 
duration     = 55; 
depth        = 33.287298; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.505073
#   Altitude Set: 30.505073
#   Vehicle Depth:33.287298 
#   Seafloor Depth:-63.561110
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.21; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.25; 
MB_Bottom_Detect_Filter_Max_Range = 73.21; 
MB_Bottom_Detect_Filter_Min_Depth = 15.25; 
MB_Bottom_Detect_Filter_Max_Depth = 73.21; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 54.644061 meters
#   Minimum depth: 63.062496 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 33.062496 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.759775; 
longitude    = -121.859743; 
captureRadius = 10; 
duration     = 54; 
depth        = 33.062496; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.299045
#   Altitude Set: 30.299045
#   Vehicle Depth:33.062496 
#   Seafloor Depth:-63.361541
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.72; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.15; 
MB_Bottom_Detect_Filter_Max_Range = 72.72; 
MB_Bottom_Detect_Filter_Min_Depth = 15.15; 
MB_Bottom_Detect_Filter_Max_Depth = 72.72; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007819 meters
#   Minimum depth: 62.817964 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.817964 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.760220; 
longitude    = -121.859481; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.817964; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.766932
#   Altitude Set: 30.766932
#   Vehicle Depth:32.817964 
#   Seafloor Depth:-63.584896
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.84; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.38; 
MB_Bottom_Detect_Filter_Max_Range = 73.84; 
MB_Bottom_Detect_Filter_Min_Depth = 15.38; 
MB_Bottom_Detect_Filter_Max_Depth = 73.84; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007766 meters
#   Minimum depth: 62.817964 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.817964 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.760668; 
longitude    = -121.859217; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.817964; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.766932
#   Altitude Set: 30.766932
#   Vehicle Depth:32.817964 
#   Seafloor Depth:-63.151485
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.84; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.38; 
MB_Bottom_Detect_Filter_Max_Range = 73.84; 
MB_Bottom_Detect_Filter_Min_Depth = 15.38; 
MB_Bottom_Detect_Filter_Max_Depth = 73.84; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007714 meters
#   Minimum depth: 62.638556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.638556 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.761116; 
longitude    = -121.858953; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.638556; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.333521
#   Altitude Set: 30.333521
#   Vehicle Depth:32.638556 
#   Seafloor Depth:-62.934755
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.80; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.17; 
MB_Bottom_Detect_Filter_Max_Range = 72.80; 
MB_Bottom_Detect_Filter_Min_Depth = 15.17; 
MB_Bottom_Detect_Filter_Max_Depth = 72.80; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007661 meters
#   Minimum depth: 62.638556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.638556 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.761564; 
longitude    = -121.858689; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.638556; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.296199
#   Altitude Set: 30.296199
#   Vehicle Depth:32.638556 
#   Seafloor Depth:-62.719238
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.71; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.15; 
MB_Bottom_Detect_Filter_Max_Range = 72.71; 
MB_Bottom_Detect_Filter_Min_Depth = 15.15; 
MB_Bottom_Detect_Filter_Max_Depth = 72.71; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007610 meters
#   Minimum depth: 62.479609 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.479609 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.762012; 
longitude    = -121.858425; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.479609; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.197409
#   Altitude Set: 30.197409
#   Vehicle Depth:32.479609 
#   Seafloor Depth:-62.677018
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.47; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.10; 
MB_Bottom_Detect_Filter_Max_Range = 72.47; 
MB_Bottom_Detect_Filter_Min_Depth = 15.10; 
MB_Bottom_Detect_Filter_Max_Depth = 72.47; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007558 meters
#   Minimum depth: 62.479609 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.479609 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.762460; 
longitude    = -121.858162; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.479609; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.277404
#   Altitude Set: 30.277404
#   Vehicle Depth:32.479609 
#   Seafloor Depth:-62.757013
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.67; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.14; 
MB_Bottom_Detect_Filter_Max_Range = 72.67; 
MB_Bottom_Detect_Filter_Min_Depth = 15.14; 
MB_Bottom_Detect_Filter_Max_Depth = 72.67; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 59.082133 meters
#   Minimum depth: 61.909362 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.909362 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.762909; 
longitude    = -121.857898; 
captureRadius = 10; 
duration     = 59; 
depth        = 31.909362; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.372111
#   Altitude Set: 30.372111
#   Vehicle Depth:31.909362 
#   Seafloor Depth:-62.281473
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.89; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.19; 
MB_Bottom_Detect_Filter_Max_Range = 72.89; 
MB_Bottom_Detect_Filter_Min_Depth = 15.19; 
MB_Bottom_Detect_Filter_Max_Depth = 72.89; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 50.932826 meters
#   Minimum depth: 61.909362 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.909362 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.763390; 
longitude    = -121.857614; 
captureRadius = 10; 
duration     = 50; 
depth        = 31.909362; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.372111
#   Altitude Set: 30.372111
#   Vehicle Depth:31.909362 
#   Seafloor Depth:-62.092715
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.89; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.19; 
MB_Bottom_Detect_Filter_Max_Range = 72.89; 
MB_Bottom_Detect_Filter_Min_Depth = 15.19; 
MB_Bottom_Detect_Filter_Max_Depth = 72.89; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007401 meters
#   Minimum depth: 61.909362 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.909362 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.763805; 
longitude    = -121.857370; 
captureRadius = 10; 
duration     = 55; 
depth        = 31.909362; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.183353
#   Altitude Set: 30.183353
#   Vehicle Depth:31.909362 
#   Seafloor Depth:-62.052773
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.44; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.09; 
MB_Bottom_Detect_Filter_Max_Range = 72.44; 
MB_Bottom_Detect_Filter_Min_Depth = 15.09; 
MB_Bottom_Detect_Filter_Max_Depth = 72.44; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 57.553985 meters
#   Minimum depth: 61.909362 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.909362 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.764253; 
longitude    = -121.857106; 
captureRadius = 10; 
duration     = 57; 
depth        = 31.909362; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.223567
#   Altitude Set: 30.223567
#   Vehicle Depth:31.909362 
#   Seafloor Depth:-62.132929
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.54; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.11; 
MB_Bottom_Detect_Filter_Max_Range = 72.54; 
MB_Bottom_Detect_Filter_Min_Depth = 15.11; 
MB_Bottom_Detect_Filter_Max_Depth = 72.54; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 52.460662 meters
#   Minimum depth: 61.953918 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.953918 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.764722; 
longitude    = -121.856830; 
captureRadius = 10; 
duration     = 52; 
depth        = 31.953918; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.81487
#   Altitude Set: 30.81487
#   Vehicle Depth:31.953918 
#   Seafloor Depth:-62.768788
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.96; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.41; 
MB_Bottom_Detect_Filter_Max_Range = 73.96; 
MB_Bottom_Detect_Filter_Min_Depth = 15.41; 
MB_Bottom_Detect_Filter_Max_Depth = 73.96; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007245 meters
#   Minimum depth: 62.132262 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.132262 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.765149; 
longitude    = -121.856579; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.132262; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.81487
#   Altitude Set: 30.81487
#   Vehicle Depth:32.132262 
#   Seafloor Depth:-62.821267
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.96; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.41; 
MB_Bottom_Detect_Filter_Max_Range = 73.96; 
MB_Bottom_Detect_Filter_Min_Depth = 15.41; 
MB_Bottom_Detect_Filter_Max_Depth = 73.96; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 56.025844 meters
#   Minimum depth: 62.494752 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.494752 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.765597; 
longitude    = -121.856315; 
captureRadius = 10; 
duration     = 56; 
depth        = 32.494752; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.689005
#   Altitude Set: 30.689005
#   Vehicle Depth:32.494752 
#   Seafloor Depth:-63.071683
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.65; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.34; 
MB_Bottom_Detect_Filter_Max_Range = 73.65; 
MB_Bottom_Detect_Filter_Min_Depth = 15.34; 
MB_Bottom_Detect_Filter_Max_Depth = 73.65; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 53.988490 meters
#   Minimum depth: 62.784186 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.784186 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.766053; 
longitude    = -121.856046; 
captureRadius = 10; 
duration     = 53; 
depth        = 32.784186; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.576931
#   Altitude Set: 30.576931
#   Vehicle Depth:32.784186 
#   Seafloor Depth:-63.016474
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.38; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.29; 
MB_Bottom_Detect_Filter_Max_Range = 73.38; 
MB_Bottom_Detect_Filter_Min_Depth = 15.29; 
MB_Bottom_Detect_Filter_Max_Depth = 73.38; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007089 meters
#   Minimum depth: 62.860073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.860073 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.766493; 
longitude    = -121.855787; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.860073; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.298637
#   Altitude Set: 30.298637
#   Vehicle Depth:32.860073 
#   Seafloor Depth:-63.158710
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.72; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.15; 
MB_Bottom_Detect_Filter_Max_Range = 72.72; 
MB_Bottom_Detect_Filter_Min_Depth = 15.15; 
MB_Bottom_Detect_Filter_Max_Depth = 72.72; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.007037 meters
#   Minimum depth: 62.096233 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.096233 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.766941; 
longitude    = -121.855523; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.096233; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.78254
#   Altitude Set: 30.78254
#   Vehicle Depth:32.096233 
#   Seafloor Depth:-62.878773
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.88; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.39; 
MB_Bottom_Detect_Filter_Max_Range = 73.88; 
MB_Bottom_Detect_Filter_Min_Depth = 15.39; 
MB_Bottom_Detect_Filter_Max_Depth = 73.88; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.006984 meters
#   Minimum depth: 62.086726 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.086726 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.767389; 
longitude    = -121.855260; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.086726; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.78254
#   Altitude Set: 30.78254
#   Vehicle Depth:32.086726 
#   Seafloor Depth:-62.086726
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.88; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.39; 
MB_Bottom_Detect_Filter_Max_Range = 73.88; 
MB_Bottom_Detect_Filter_Min_Depth = 15.39; 
MB_Bottom_Detect_Filter_Max_Depth = 73.88; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.006933 meters
#   Minimum depth: 62.086726 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.086726 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.767837; 
longitude    = -121.854996; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.086726; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.551759
#   Altitude Set: 30.551759
#   Vehicle Depth:32.086726 
#   Seafloor Depth:-62.638485
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.32; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.28; 
MB_Bottom_Detect_Filter_Max_Range = 73.32; 
MB_Bottom_Detect_Filter_Min_Depth = 15.28; 
MB_Bottom_Detect_Filter_Max_Depth = 73.32; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.006881 meters
#   Minimum depth: 62.086726 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.086726 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.768285; 
longitude    = -121.854732; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.086726; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.551759
#   Altitude Set: 30.551759
#   Vehicle Depth:32.086726 
#   Seafloor Depth:-62.483207
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 73.32; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.28; 
MB_Bottom_Detect_Filter_Max_Range = 73.32; 
MB_Bottom_Detect_Filter_Min_Depth = 15.28; 
MB_Bottom_Detect_Filter_Max_Depth = 73.32; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.006828 meters
#   Minimum depth: 62.246848 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.246848 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.768734; 
longitude    = -121.854468; 
captureRadius = 10; 
duration     = 55; 
depth        = 32.246848; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.396481
#   Altitude Set: 30.396481
#   Vehicle Depth:32.246848 
#   Seafloor Depth:-62.265476
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.95; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.20; 
MB_Bottom_Detect_Filter_Max_Range = 72.95; 
MB_Bottom_Detect_Filter_Min_Depth = 15.20; 
MB_Bottom_Detect_Filter_Max_Depth = 72.95; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 59.736193 meters
#   Minimum depth: 62.206561 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 32.206561 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.769182; 
longitude    = -121.854204; 
captureRadius = 10; 
duration     = 59; 
depth        = 32.206561; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.122745
#   Altitude Set: 30.122745
#   Vehicle Depth:32.206561 
#   Seafloor Depth:-62.329306
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.29; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.06; 
MB_Bottom_Detect_Filter_Max_Range = 72.29; 
MB_Bottom_Detect_Filter_Min_Depth = 15.06; 
MB_Bottom_Detect_Filter_Max_Depth = 72.29; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 50.277308 meters
#   Minimum depth: 61.933995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.933995 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.769668; 
longitude    = -121.853918; 
captureRadius = 10; 
duration     = 50; 
depth        = 31.933995; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.341222
#   Altitude Set: 30.341222
#   Vehicle Depth:31.933995 
#   Seafloor Depth:-62.275217
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.82; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.17; 
MB_Bottom_Detect_Filter_Max_Range = 72.82; 
MB_Bottom_Detect_Filter_Min_Depth = 15.17; 
MB_Bottom_Detect_Filter_Max_Depth = 72.82; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 55.006672 meters
#   Minimum depth: 61.776412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.776412 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.770078; 
longitude    = -121.853677; 
captureRadius = 10; 
duration     = 55; 
depth        = 31.776412; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.341222
#   Altitude Set: 30.341222
#   Vehicle Depth:31.776412 
#   Seafloor Depth:-61.895015
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.82; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.17; 
MB_Bottom_Detect_Filter_Max_Range = 72.82; 
MB_Bottom_Detect_Filter_Min_Depth = 15.17; 
MB_Bottom_Detect_Filter_Max_Depth = 72.82; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
# 
# 
# Waypoint behavior during line 1
#   Segment length 50.422737 meters
#   Minimum depth: 61.581398 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.581398 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.770526; 
longitude    = -121.853413; 
captureRadius = 10; 
duration     = 50; 
depth        = 31.581398; 
speed        = MISSION_SPEED; 
} 
#######################################################
# Reset sonar parameters 
#   Actual Altitude: 30.252539
#   Altitude Set: 30.252539
#   Vehicle Depth:31.581398 
#   Seafloor Depth:-61.833937
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Duration = 450.000; 
LoSS_Range = 200.00; 
MB_Range = 72.61; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.13; 
MB_Bottom_Detect_Filter_Max_Range = 72.61; 
MB_Bottom_Detect_Filter_Min_Depth = 15.13; 
MB_Bottom_Detect_Filter_Max_Depth = 72.61; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
} 
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
Log_Mode  = 1; 
} 
# Set sonar parameters 
#   Actual Altitude: 30.252539
#   Altitude Set: 30.252539
#   Vehicle Depth:31.581398 
#   Seafloor Depth:-61.798625
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
SBP_Mode = 1; 
SBP_Power = 100.0; 
SBP_Duration = 450.000; 
LoSS_Mode = 1; 
LoSS_Power = 100.0; 
LoSS_Range = 200.00; 
HiSS_Mode = 1; 
HiSS_Power = 100.0; 
HiSS_Range = 200; 
MB_Power = 220; 
MB_Range = 72.61; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 15.13; 
MB_Bottom_Detect_Filter_Max_Range = 72.61; 
MB_Bottom_Detect_Filter_Min_Depth = 15.13; 
MB_Bottom_Detect_Filter_Max_Depth = 72.61; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
Snippet_Mode = 0; 
Window_Size = 0; 
Log_Mode = 0; 
} 
# 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 500.000000 meters
#   Minimum depth: 61.581398 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 450.000000 meters
#   Desired vehicle altitude: 30.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 31.581398 meters set by local depth and desired altitude
behavior waypoint  
{ 
latitude     = 36.770937; 
longitude    = -121.853171; 
captureRadius = 10; 
duration     = 500; 
depth        = 31.581398; 
speed        = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 0.0; 
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      = 0.0; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = True; 
} 
#######################################################
# Set sonar parameters, turn pinging on but logging off 
# 
behavior reson 
{ 
duration  = RESON_DURATION; 
MB_Mode  = 1; 
Log_Mode  = 0; 
SBP_Mode = 1; 
SBP_Power = 100.0; 
SBP_Duration = 450.000; 
LoSS_Mode = 1; 
LoSS_Power = 100.0; 
LoSS_Range = 200.00; 
HiSS_Mode = 1; 
HiSS_Power = 100.0; 
HiSS_Range = 200; 
MB_Power = 220; 
MB_Range = 60.00; 
MB_Rate = 2; 
MB_Gain = 60; 
MB_Pulse_Width = 0.000030; 
MB_Bottom_Detect_Filter_Min_Range = 12.50; 
MB_Bottom_Detect_Filter_Max_Range = 60.00; 
MB_Bottom_Detect_Filter_Min_Depth = 12.50; 
MB_Bottom_Detect_Filter_Max_Depth = 60.00; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 1; 
Snippet_Mode = 0; 
Window_Size = 0; 
} 
# 
#######################################################
#######################################################