# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: TN199_MAUVtest_v1.rte # Mission File: TN199_MAUVtest_v1.cfg # Distance: 899.900320 (m) # Estimated Time: 7368 (s) 2.047 (hr) # Abort Time: 9578 (s) # Way Points: 2 # Route Points: 10 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 95 (m) # Minimum Vehicle Altitude: 100 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 2250 (m) # Abort Vehicle Depth: 2300 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.31 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -129.983914 45.933420 -1520.420736 0.000000 1 # 1 -129.995519 45.933291 -1529.867350 899.900320 1 # # A total of 10 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 7800; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2250.000000; abortDepth = 2300.000000; minAltitude = 100.000000; abortAltitude = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 5922; horizontalMode = rudder; horizontal = 5.000000; pitch = 30.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 1 # Segment length 23.330795 meters # Minimum depth: 1529.867350 meters looking forward 100.000000 meters along route # Maximum depth: 1529.958942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1434.867350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933291; longitude = -129.995519; captureRadius = 10; duration = 23; initialDepth = 1434.867350; finalDepth = 1434.867350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:1434.86735 # Seafloor depth:-1529.867350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.987999 meters # Minimum depth: 1529.078681 meters looking forward 100.000000 meters along route # Maximum depth: 1530.017515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1434.078681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933294; longitude = -129.995218; captureRadius = 10; duration = 75; initialDepth = 1434.078681; finalDepth = 1434.867350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.9157660000001 # Actual altitude: 100 # Commanded vehicle depth:1434.078681 # Seafloor depth:-1529.994447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.987945 meters # Minimum depth: 1528.212561 meters looking forward 100.000000 meters along route # Maximum depth: 1529.130486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1433.212561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933310; longitude = -129.993800; captureRadius = 10; duration = 75; initialDepth = 1433.212561; finalDepth = 1434.078681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.9157660000001 # Actual altitude: 100 # Commanded vehicle depth:1433.212561 # Seafloor depth:-1529.077582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.987892 meters # Minimum depth: 1526.062258 meters looking forward 100.000000 meters along route # Maximum depth: 1527.990781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1431.062258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933326; longitude = -129.992381; captureRadius = 10; duration = 75; initialDepth = 1431.062258; finalDepth = 1433.212561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.928523 # Actual altitude: 100 # Commanded vehicle depth:1431.062258 # Seafloor depth:-1527.990781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.987837 meters # Minimum depth: 1525.069607 meters looking forward 100.000000 meters along route # Maximum depth: 1525.934223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1430.069607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933342; longitude = -129.990963; captureRadius = 10; duration = 75; initialDepth = 1430.069607; finalDepth = 1431.062258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.928523 # Actual altitude: 100 # Commanded vehicle depth:1430.069607 # Seafloor depth:-1525.934223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.987783 meters # Minimum depth: 1521.619250 meters looking forward 100.000000 meters along route # Maximum depth: 1525.033523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1426.619250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933357; longitude = -129.989545; captureRadius = 10; duration = 70; initialDepth = 1426.619250; finalDepth = 1430.069607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.4142730000001 # Actual altitude: 100 # Commanded vehicle depth:1426.61925 # Seafloor depth:-1525.033523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.987729 meters # Minimum depth: 1519.296975 meters looking forward 100.000000 meters along route # Maximum depth: 1521.274420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1424.296975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933373; longitude = -129.988126; captureRadius = 10; duration = 70; initialDepth = 1424.296975; finalDepth = 1426.619250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.4142730000001 # Actual altitude: 100 # Commanded vehicle depth:1424.296975 # Seafloor depth:-1521.274420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.987676 meters # Minimum depth: 1517.384999 meters looking forward 100.000000 meters along route # Maximum depth: 1519.399249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1422.384999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933389; longitude = -129.986708; captureRadius = 10; duration = 70; initialDepth = 1422.384999; finalDepth = 1424.296975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.0142499999999 # Actual altitude: 100 # Commanded vehicle depth:1422.384999 # Seafloor depth:-1519.399249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.654664 meters # Minimum depth: 1517.853560 meters looking forward 100.000000 meters along route # Maximum depth: 1520.197384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1422.853560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933405; longitude = -129.985289; captureRadius = 10; duration = 70; initialDepth = 1422.853560; finalDepth = 1422.384999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.0142499999999 # Actual altitude: 100 # Commanded vehicle depth:1422.85356 # Seafloor depth:-1517.853560 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 97.5524789999999 # Actual altitude: 100 # Commanded vehicle depth:1422.868257 # Seafloor depth:-1520.420736 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; 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 back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1517.868257 meters looking forward 100.000000 meters along route # Maximum depth: 1520.420736 meters looking forward 100.000000 meters along route # Vehicle depth: 1422.868257 meters behavior waypoint { latitude = 45.933420; longitude = -129.983914; captureRadius = 10; duration = 500; depth = 1422.868257; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1422.868257 meters set by local depth and desired altitude behavior descend { duration = 7919; horizontalMode = rudder; horizontal = 4.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 100.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1517.868257 meters looking forward 100.000000 meters along route # Maximum depth: 1520.420736 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 45.933420; longitude = -129.983914; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 269.798880; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 100.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 269.798880; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; 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 = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 228.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.50; MB_Bottom_Detect_Filter_Max_Range = 228.00; MB_Bottom_Detect_Filter_Min_Depth = 47.50; MB_Bottom_Detect_Filter_Max_Depth = 228.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################