# 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 2270 2016-03-25 02:15:32Z caress r # # Mission Summary: # Route File: OutAndBackTest_1v1.rte # Mission File: OutAndBackTest_1v1.cfg # Distance: 993.591658 (m) # Estimated Time: 1649 (s) 0.458 (hr) # Abort Time: 2144 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 3 # Route Points: 11 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointWall # Behavior for waypoint mode 3: WaypointWall # Behavior for waypoint mode 4: WaypointWall # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 25 dB # Multibeam transmit gain: 213 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # 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: 50 (m) # Abort Vehicle Altitude 1: 12 (m) # Delta Depth Restart 1: 38 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 78.813988 (m) # Abort Vehicle Depth: 103.813988 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (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: # # 0 -121.971726 36.798684 -105.294271 0.000000 3 # 1 -121.971942 36.803196 -95.358785 500.937334 3 # 2 -121.971838 36.798756 -105.226705 993.591658 4 # # A total of 11 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 2144; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 78.813988; abortDepth = 103.813988; minAltitude = 50.000000; abortAltitude = 12.000000; deltaDepthRestart = 38.000000; } ####################################################### # 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_depth behavior to get to end of line 2 # Segment length 85.331171 meters # Minimum depth: 103.813988 meters looking forward 100.000000 meters along route # Maximum depth: 106.724371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.813988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798756; longitude = -121.971838; duration = 341; # abortOnTimeout = True; initialDepth = 52.455641; finalDepth = 53.813988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.412717 # Actual altitude: 51.412717 # Commanded vehicle depth: 53.813988 # Seafloor depth: -105.226705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.997429 meters # Minimum depth: 102.455641 meters looking forward 100.000000 meters along route # Maximum depth: 103.795415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.455641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799525; longitude = -121.971856; duration = 407; initialDepth = 50.555723; finalDepth = 52.455641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.412717 # Actual altitude: 51.412717 # Commanded vehicle depth: 52.455641 # Seafloor depth: -103.745620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.997443 meters # Minimum depth: 100.555723 meters looking forward 100.000000 meters along route # Maximum depth: 103.333651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.555723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800445; longitude = -121.971878; duration = 407; initialDepth = 48.230154; finalDepth = 50.555723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.330989 # Actual altitude: 52.330989 # Commanded vehicle depth: 50.555723 # Seafloor depth: -102.886712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.997458 meters # Minimum depth: 98.230154 meters looking forward 100.000000 meters along route # Maximum depth: 100.412530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.230154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801364; longitude = -121.971899; duration = 407; initialDepth = 45.242932; finalDepth = 48.230154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.330989 # Actual altitude: 52.330989 # Commanded vehicle depth: 48.230154 # Seafloor depth: -100.412530 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.330823 meters # Minimum depth: 95.242932 meters looking forward 100.000000 meters along route # Maximum depth: 98.610801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.242932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802283; longitude = -121.971921; duration = 405; initialDepth = 45.230412; finalDepth = 45.242932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.130661 # Actual altitude: 53.130661 # Commanded vehicle depth: 45.242932 # Seafloor depth: -98.373593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.94; 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 1 # Segment length 99.387059 meters # Minimum depth: 95.230412 meters looking forward 100.000000 meters along route # Maximum depth: 98.735667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.230412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803196; longitude = -121.971942; duration = 397; # abortOnTimeout = True; initialDepth = 48.217228; finalDepth = 45.230412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.130661 # Actual altitude: 53.130661 # Commanded vehicle depth: 45.230412 # Seafloor depth: -95.358785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.054074 meters # Minimum depth: 98.217228 meters looking forward 100.000000 meters along route # Maximum depth: 100.491295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.217228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802301; longitude = -121.971899; duration = 400; initialDepth = 50.703533; finalDepth = 48.217228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.213497 # Actual altitude: 50.213497 # Commanded vehicle depth: 48.217228 # Seafloor depth: -98.430725 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.054061 meters # Minimum depth: 100.703533 meters looking forward 100.000000 meters along route # Maximum depth: 102.983413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.703533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801400; longitude = -121.971856; duration = 400; initialDepth = 52.318825; finalDepth = 50.703533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.213497 # Actual altitude: 50.213497 # Commanded vehicle depth: 50.703533 # Seafloor depth: -100.703533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.054049 meters # Minimum depth: 102.318825 meters looking forward 100.000000 meters along route # Maximum depth: 103.524063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.318825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800499; longitude = -121.971813; duration = 400; initialDepth = 53.600610; finalDepth = 52.318825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.852386 # Actual altitude: 50.852386 # Commanded vehicle depth: 52.318825 # Seafloor depth: -103.171211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.388091 meters # Minimum depth: 103.600610 meters looking forward 100.000000 meters along route # Maximum depth: 105.349164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.600610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799598; longitude = -121.971770; duration = 405; initialDepth = 53.600610; finalDepth = 53.600610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.852386 # Actual altitude: 50.852386 # Commanded vehicle depth: 53.60061 # Seafloor depth: -103.879942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.26; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 51.693661 # Sonar parameter altitude: 51.693661 # Commanded vehicle depth: 53.60061 # Seafloor depth: -105.294271 # behavior reson { duration = 6; MB_Power = 213; } behavior reson { duration = 6; MB_Power = 210; } behavior reson { duration = 6; MB_Power = 200; } 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 = 190; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.51; 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; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 103.600610 meters looking forward 100.000000 meters along route # Maximum depth: 105.349164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 78.813988 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.600610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.798684; longitude = -121.971726; duration = 600; depth = 53.600610; 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 = 300.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 300.0; 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 = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; 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; } # ####################################################### ####################################################### ####################################################### #######################################################