# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <deitz> at <Fri May 23 18:23:52 PDT 2014>
# 
# Mission Summary:
#     Route File:               20140529_PortugueseLedge_CrossRoute_1v1.rte
#     Mission File:             20140529_PortugueseLedge_CrossRoute_1v1.cfg
#     Distance:                 1510.360886 (m)
#     Estimated Time:           1990 (s)  0.553 (hr)
#     Abort Time:               2587 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               4
#     Route Points:             4
#     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:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           50 dB
#                                 Multibeam transmit gain:          220 dB
#                                 Multibeam pulse width:            6e-05 usec
#                                 Multibeam minimum range fraction: 0.3
#                               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: 25 (m)
#     Abort Vehicle Altitude 1:   15 (m)
#     Delta Depth Restart 1:      10 (m)
#     Desired Vehicle Altitude 1: 25 (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:      62.5 (m)
#     Abort Vehicle Depth:        75 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   1000 (m)
#     Waypoint Spacing:           1000 (m)
#     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 -121.945120 36.695944 -94.522772 0.000000 9
#   1 -121.937544 36.696536 -95.740786 679.975108 9
#   2 -121.938647 36.693760 -93.702660 1003.288523 9
#   3 -121.940450 36.698094 -91.347141 1510.360886 10
# 
# A total of 4 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 1080;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 62.500000;
abortDepth = 75.000000;
minAltitude = 25.000000;
abortAltitude = 15.000000;
deltaDepthRestart = 10.000000;
}
#######################################################
# 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 4
behavior waypoint_depth
{
latitude = 36.695944;
longitude = -121.945120;
duration = 1200;
# abortOnTimeout    = True; 
initialDepth = 50.000000;
finalDepth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            9
#   Commanded altitude:       41.347141
#   Actual altitude:          41.347141
#   Commanded vehicle depth:  50 
#   Seafloor depth:           -91.347141
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 144.71;
MB_Rate = 3;
MB_Gain = 35;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 12.40;
MB_Bottom_Detect_Filter_Max_Range = 144.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 144.71;
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 3
#   Segment length 507.072363 meters
#   Minimum depth: 80.873901 meters looking forward 1000.000000 meters along route
#   Maximum depth: 93.660534 meters looking forward 1000.000000 meters along route
#   Maximum vehicle depth: 62.500000 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.698094;
longitude = -121.940450;
duration = 1014;
# abortOnTimeout    = True; 
initialDepth = 50.000000;
finalDepth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            9
#   Commanded altitude:       41.347141
#   Actual altitude:          41.347141
#   Commanded vehicle depth:  50 
#   Seafloor depth:           -91.347141
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 144.71;
MB_Rate = 3;
MB_Gain = 35;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 12.40;
MB_Bottom_Detect_Filter_Max_Range = 144.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 144.71;
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 323.313415 meters
#   Minimum depth: 80.873901 meters looking forward 1000.000000 meters along route
#   Maximum depth: 97.168874 meters looking forward 1000.000000 meters along route
#   Maximum vehicle depth: 62.500000 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.693760;
longitude = -121.938647;
duration = 646;
# abortOnTimeout    = True; 
initialDepth = 50.000000;
finalDepth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            9
#   Commanded altitude:       43.70266
#   Actual altitude:          43.70266
#   Commanded vehicle depth:  50 
#   Seafloor depth:           -93.702660
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 152.96;
MB_Rate = 3;
MB_Gain = 35;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 13.11;
MB_Bottom_Detect_Filter_Max_Range = 152.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 152.96;
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 679.975108 meters
#   Minimum depth: 80.964110 meters looking forward 1000.000000 meters along route
#   Maximum depth: 97.168874 meters looking forward 1000.000000 meters along route
#   Maximum vehicle depth: 62.500000 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.696536;
longitude = -121.937544;
duration = 1359;
# abortOnTimeout    = True; 
initialDepth = 50.000000;
finalDepth = 50.000000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            9
#   Commanded altitude:       45.740786
#   Actual altitude:          45.740786
#   Commanded vehicle depth:  50 
#   Seafloor depth:           -95.740786
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 160.09;
MB_Rate = 3;
MB_Gain = 35;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 13.72;
MB_Bottom_Detect_Filter_Max_Range = 160.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 160.09;
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;
}
# 
#######################################################
#######################################################
#######################################################
# 
#######################################################
# Set sonar parameters
#   Waypoint type:	      9
#   Commanded altitude:       81.54018
#   Sonar parameter altitude: 81.54018
#   Commanded vehicle depth:  15
#   Seafloor depth:	      -96.540180
#
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;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 35;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.97;
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;
}
# 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 80.964110 meters looking forward 1000.000000 meters along route
#   Maximum depth: 97.168874 meters looking forward 1000.000000 meters along route
#   Maximum vehicle depth: 62.500000 meters
#   Constant vehicle depth:   50.000000 meters
#   Minimum vehicle altitude: 25.000000 meters
#   Behavior depth of 50.000000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_bottom
{
latitude = 36.695944;
longitude = -121.945120;
duration = 600;
depth = 50.000000;
speed = 1.500000;
}
# 
# Descend behavior 
behavior descend
{
horizontalMode = rudder;
horizontal = 3;
pitch = -35.;
speed = 1.5;
maxDepth = 45.;
minAltitude = 20.;
duration = 300;
}
behavior waypoint_bottom
{
latitude = 36.695944;
longitude = -121.945120;
duration = 600;
depth = 15.000000;
speed = 1.500000;
reinitFilter = True;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 270.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 25.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 270.0;
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 on 
# 
# Turn Mapping sonars on and start logging.
#
behavior reson
{
duration = 6;
Log_Mode = 2;
}
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 = 35;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
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;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
