# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <rob> on cpu <whitebirdauv> at <Thu Mar	2 13:42:21 PST 2017>
#
# Program mbm_route2mission version:
#     : mbm_route2mission 2292 2017-01-30 18:11:01Z caress r
#
# Mission Summary:
#     Route File:		2017_WallTest_1v4.rte
#     Mission File:		2017_WallTest_1v4.cfg
#     Distance: 		7791.379955 (m)
#     Estimated Time:		7032 (s)  1.954 (hr)
#     Abort Time:		10548 (s)
#     Max battery life: 	68400 (s)
#     Safety margin:		1800 (s)
#     Ascend time:		1432 (s)
#     Way Points:		13
#     Route Points:		13
#     Survey Behaviors:
#	   Behavior for waypoint mode 0:   WaypointDepth
#	   Behavior for waypoint mode 1:   WaypointDepth
#	   Behavior for waypoint mode 2:   WaypointDepth
#	   Behavior for waypoint mode 3:   WaypointWall
#	   Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:		Waypoint descent
#     Mapping sonar control enabled:
#				Multibeam enabled
#				  Multibeam receive gain:	    33 dB
#				  Multibeam transmit gain:	    218 dB
#				  Multibeam pulse width:	    3e-05 usec
#				  Multibeam minimum range fraction: 0.3
#				  Multibeam maximum range fraction: 5.0
#				Subbottom disabled
#				Low sidescan disabled
#				High sidescan disabled
#     Benthic imaging camera control disabled:
#
# Mission Parameters:
#     Vehicle Survey Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:	  1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 30 (m)
#     Abort Vehicle Altitude 1:   10 (m)
#     Delta Depth Restart 1:	  20 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   900 (m)
#     Constant Vehicle Depth 2:   900 (m)
#     Maximum Vehicle Depth:	  940.060872 (m)
#     Abort Vehicle Depth:	  955.060872 (m)
#     Descent Vehicle Depth:	  3 (m)
#     Waypoint Spacing: 	  1500 (m)
#     Maximum climb rate:	  25 (degrees)
#     GPS Duration:		  600 (s)
#     Descend Rate:		  0.417 (m/s)
#     Ascend Rate:		  1 (m/s)
#     Initial 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 -121.972032 36.798672 -105.294687 0.000000 3
#   1 -121.971315 36.789318 -348.363022 1039.711262 1
#   2 -121.982140 36.774989 -810.603729 2899.875273 1
#   3 -121.983664 36.773565 -861.286102 3108.338513 1
#   4 -121.985957 36.772405 -913.532104 3350.086294 1
#   5 -121.991306 36.774773 -945.598145 3894.984632 1
#   6 -121.993636 36.774809 -951.245651 4102.967752 9
#   7 -121.996468 36.773523 -941.606283 4393.187110 11
#   8 -121.996214 36.779423 -827.382812 5048.106491 9
#   9 -121.987899 36.775764 -910.406820 5893.894571 11
#   10 -121.995975 36.775343 -955.950684 6616.106977 9
#   11 -121.996460 36.773511 -940.858398 6823.964622 1
#   12 -122.006261 36.777236 -955.060872 7791.379955 4
#
# A total of 13 mission points have been defined.
#
# Define Mission parameters:

#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 10548;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth      = 0;
maxDepth      = 940.060872;
abortDepth    = 955.060872;
minAltitude   = 30.000000;
abortAltitude = 10.000000;
deltaDepthRestart = 20.000000;
}
#######################################################
# Set End-of-Mission Behaviors
#
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#
# ascend behavior
behavior ascend
{
duration  = 1432;
horizontalMode	 = rudder;
horizontal	 = 3.000000;
pitch		 = 45.000000;
speed		 = 1.500000;
endDepth	 = 2.000000;
}
#
# Acoustic update 1 - sent status ping after end of survey
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
# 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;
MB_Power = 0;
SBP_Mode  = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode  = 0;
}
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 12
#   Segment length 967.415333 meters
#   Minimum depth: 955.060872 meters looking forward 0.000000 meters along route
#   Maximum depth: 955.060872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 940.060872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 905.060872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.777236;
longitude	   = -122.006261;
lastLatitude	   = 36.773511;
lastLongitude	   = -121.996460;
duration	   = 400;
initialDepth	   = 900.000000;
finalDepth	   = 900.;
speed		   = 1.500000;
standOff = 50;
sonarTimeOut = 5;
waypointPriority = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      1
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  905.060872
#   Seafloor depth:	      -955.060872
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 11
#   Segment length 207.857645 meters
#   Minimum depth: 940.858398 meters looking forward 0.000000 meters along route
#   Maximum depth: 940.858398 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 940.060872 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
escape = True;
escapeDistance = 10;
duration = 8;
speed = 1.500000;
wallAbsentTime = 70;
standOff = 50;
sonarTimeOut = 5;
}
behavior waypoint_wall
{
latitude	   = 36.773511;
longitude	   = -121.996460;
lastLatitude	   = 36.775343;
lastLongitude	   = -121.995975;
duration	   = 831;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime = 120;
standOff = 30;
sonarTimeOut = 5;
waypointPriority = 0;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       50
#   Actual altitude:	      50
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -940.858398
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 10
#   Segment length 722.212406 meters
#   Minimum depth: 955.950684 meters looking forward 0.000000 meters along route
#   Maximum depth: 955.950684 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 940.060872 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.775343;
longitude	   = -121.995975;
duration	   = 2888;
initialDepth	   = 780.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      11
#   Commanded altitude:       55.950684
#   Actual altitude:	      55.950684
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -955.950684
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 9
#   Segment length 845.788080 meters
#   Minimum depth: 910.406820 meters looking forward 0.000000 meters along route
#   Maximum depth: 910.406820 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 940.060872 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude	   = 36.775764;
longitude	   = -121.987899;
lastLatitude	   = 36.779423;
lastLongitude	   = -121.996214;
duration	   = 3383;
initialDepth	   = 780.;
finalDepth	   = 780.;
speed		   = 1.500000;
standOff = 70;
sonarTimeOut = 5;
waypointPriority = 2;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       55.950684
#   Actual altitude:	      55.950684
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -910.406820
#
behavior reson
{
duration  = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 8
#   Segment length 654.919381 meters
#   Minimum depth: 827.382812 meters looking forward 0.000000 meters along route
#   Maximum depth: 827.382812 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 940.060872 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude	   = 36.779423;
longitude	   = -121.996214;
duration	   = 1000;
initialDepth	   = 900.000000;
finalDepth	   = 780.000000;
speed		   = 1.500000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:	      11
#   Commanded altitude:       10.40682
#   Actual altitude:	      30
#   Commanded vehicle depth:  900
#   Seafloor depth:	      -827.382812
#
behavior reson
{
duration  = 6;
MB_Range = 150.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 9.00;
MB_Bottom_Detect_Filter_Max_Range = 150.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration  = 2;
dummy  = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#
# Waypoint_wall behavior to get to end of line 7
#   Segment length 290.219358 meters
#   Minimum depth: 941.606283 meters looking forward 0.000000 meters along route
#   Maximum depth: 941.606283 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 940.060872 meters
#   Constant vehicle depth:   900.000000 meters
#   Minimum vehicle altitude: 30.000000 meters
#   Behavior depth of 900.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
escape = True;
escapeDistance = 10;
duration = 8;
speed = 1.500000;
wallAbsentTime = 70;
standOff = 50;
sonarTimeOut = 5;
}
behavior waypoint_wall
{
latitude	   = 36.773523;
longitude	   = -121.996468;
lastLatitude	   = 36.774809;
lastLongitude	   = -121.993636;
duration	   = 870;
initialDepth	   = 900.000000;
finalDepth	   = 900.000000;
speed		   = 1.500000;
wallAbsentTime = 120;
standOff = 50;
sonarTimeOut = 5;
waypointPriority = 0;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off
#
behavior reson
{
duration  = 6;
MB_Mode  = 1;
Log_Mode  = 0;
SBP_Mode = 0;
SBP_Power = 0.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 0;
LoSS_Power = 0.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 0;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 33;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
#
#######################################################
#######################################################
#######################################################
#######################################################

