# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission version: # : mbm_route2mission 2238 2015-04-15 06:00:52Z caress r # # Mission Summary: # Route File: 20150827_IcebergTesting_m2v2.rte # Mission File: 20150827_IcebergTesting_m2v2.cfg # Distance: 854.221372 (m) # Estimated Time: 1557 (s) 0.433 (hr) # Abort Time: 2024 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 7 # Route Points: 7 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointBottom # Behavior for waypoint mode 1: WaypointBottom # Behavior for waypoint mode 2: WaypointBottom # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 25 dB # Multibeam transmit gain: 220 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.2 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # 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: 5 (m) # Abort Vehicle Altitude 1: 3 (m) # Delta Depth Restart 1: 2 (m) # Desired Vehicle Altitude 1: 20 (m) # Desired Vehicle Altitude 2: 10 (m) # Desired Vehicle Altitude 3: 5 (m) # Constant Vehicle Depth 1: 40 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 76.586812 (m) # Abort Vehicle Depth: 79.086812 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 500 (m) # Maximum climb rate: 36.0 (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: # # 0 -121.857488 36.776242 -70.083262 0.000000 9 # 1 -121.856153 36.776242 -68.375580 119.193569 9 # 2 -121.855040 36.776242 -66.891678 218.521571 3 # 3 -121.853927 36.776242 -65.628138 317.849598 5 # 4 -121.852146 36.776242 -64.086812 476.774492 8 # 5 -121.850143 36.776242 -62.298086 655.565074 7 # 6 -121.847917 36.776242 -59.505931 854.221372 8 # # A total of 7 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 2024; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 76.586812; abortDepth = 79.086812; minAltitude = 5.000000; abortAltitude = 3.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; 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_bottom behavior to get to end of line 6 # Segment length 198.656298 meters # Minimum depth: 59.505931 meters looking forward 0.000000 meters along route # Maximum depth: 59.505931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 76.586812 meters # Desired vehicle altitude: 5.000000 meters # Minimum vehicle altitude: 5.000000 meters # Behavior depth of 54.505931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.776242; longitude = -121.847917; lastLatitude = 36.776242; lastLongitude = -121.850143; duration = 397; # abortOnTimeout = True; altitude = 5.000000; depth = 76.586812; speed = 1.500000; tau = 3; feedThetaForward = False; maxLowerPitch = 10; } ####################################################### # Reset sonar parameters # Waypoint type: 7 # Commanded altitude: 5 # Actual altitude: 5 # Commanded vehicle depth: 54.505931 # Seafloor depth: -59.505931 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 25.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 1.00; MB_Bottom_Detect_Filter_Max_Range = 25.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 25.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 5 # Segment length 178.790582 meters # Minimum depth: 62.298086 meters looking forward 0.000000 meters along route # Maximum depth: 62.298086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 76.586812 meters # Desired vehicle altitude: 5.000000 meters # Minimum vehicle altitude: 5.000000 meters # Behavior depth of 57.298086 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.776242; longitude = -121.850143; lastLatitude = 36.776242; lastLongitude = -121.852146; duration = 357; # abortOnTimeout = True; altitude = 5.000000; depth = 76.586812; speed = 1.500000; tau = 3; feedThetaForward = False; maxLowerPitch = 10; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 8 # Commanded altitude: 5 # Actual altitude: 5 # Commanded vehicle depth: 57.298086 # Seafloor depth: -62.298086 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 25.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 1.00; MB_Bottom_Detect_Filter_Max_Range = 25.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 25.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 4 # Segment length 158.924894 meters # Minimum depth: 64.086812 meters looking forward 0.000000 meters along route # Maximum depth: 64.086812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 76.586812 meters # Desired vehicle altitude: 5.000000 meters # Minimum vehicle altitude: 5.000000 meters # Behavior depth of 59.086812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.776242; longitude = -121.852146; lastLatitude = 36.776242; lastLongitude = -121.853927; duration = 317; # abortOnTimeout = True; altitude = 5.000000; depth = 76.586812; speed = 1.500000; tau = 3; feedThetaForward = False; maxLowerPitch = 10; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 5 # Actual altitude: 5 # Commanded vehicle depth: 59.086812 # Seafloor depth: -64.086812 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 25.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 1.00; MB_Bottom_Detect_Filter_Max_Range = 25.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 25.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 3 # Segment length 99.328027 meters # Minimum depth: 65.628138 meters looking forward 0.000000 meters along route # Maximum depth: 65.628138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 76.586812 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 5.000000 meters # Behavior depth of 55.628138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.776242; longitude = -121.853927; lastLatitude = 36.776242; lastLongitude = -121.855040; duration = 198; # abortOnTimeout = True; altitude = 10.000000; depth = 76.586812; speed = 1.500000; tau = 3; feedThetaForward = False; maxLowerPitch = 10; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10 # Actual altitude: 10 # Commanded vehicle depth: 55.628138 # Seafloor depth: -65.628138 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 50.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 2.00; MB_Bottom_Detect_Filter_Max_Range = 50.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 50.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 2 # Segment length 99.328002 meters # Minimum depth: 66.891678 meters looking forward 0.000000 meters along route # Maximum depth: 66.891678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 76.586812 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 5.000000 meters # Behavior depth of 46.891678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776242; longitude = -121.855040; duration = 198; # abortOnTimeout = True; initialDepth = 40.000000; finalDepth = 46.891678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 46.891678 # Seafloor depth: -66.891678 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 4.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 1 # Segment length 119.193569 meters # Minimum depth: 68.375580 meters looking forward 0.000000 meters along route # Maximum depth: 68.375580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 76.586812 meters # Constant vehicle depth: 40.000000 meters # Minimum vehicle altitude: 5.000000 meters # Behavior depth of 40.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776242; longitude = -121.856153; duration = 238; # abortOnTimeout = True; initialDepth = 40.000000; finalDepth = 40.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 28.37558 # Actual altitude: 28.37558 # Commanded vehicle depth: 40 # Seafloor depth: -68.375580 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 141.88; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 5.68; MB_Bottom_Detect_Filter_Max_Range = 141.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 141.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 9 # Commanded altitude: 30.083262 # Sonar parameter altitude: 30.083262 # Commanded vehicle depth: 40 # Seafloor depth: -70.083262 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; 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 = 150.42; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 6.02; MB_Bottom_Detect_Filter_Max_Range = 150.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 70.083262 meters looking forward 0.000000 meters along route # Maximum depth: 70.083262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 76.586812 meters # Constant vehicle depth: 40.000000 meters # Minimum vehicle altitude: 5.000000 meters # Behavior depth of 40.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.776242; longitude = -121.857488; duration = 600; depth = 40.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 5.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 10.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # 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 = 100.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 4.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################