# 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 2280 2016-08-07 03:48:42Z caress r # # Mission Summary: # Route File: 2017_WallTest_1v2.rte # Mission File: 2017_WallTest_1v2.cfg # Distance: 6440.376466 (m) # Estimated Time: 6134 (s) 1.704 (hr) # Abort Time: 9202 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 1436 (s) # Way Points: 11 # 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: 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: 50 (m) # Abort Vehicle Altitude 1: 10 (m) # Delta Depth Restart 1: 40 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 890 (m) # Constant Vehicle Depth 2: 890 (m) # Maximum Vehicle Depth: 932.972931 (m) # Abort Vehicle Depth: 957.972931 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 1100 (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 -121.972032 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 -121.995653 36.773421 -927.151413 4339.855170 11 # 8 -122.000703 36.776227 -943.799179 4887.607105 9 # 9 -121.995653 36.773421 -927.151413 5435.359041 11 # 10 -122.006097 36.776809 -957.972931 6440.376466 4 # # A total of 11 mission points have been defined. # # Define Mission parameters: #define SURVEY_SPEED 1.500000 #define ASCENTDESCENT_SPEED 1.500000 #define TRANSIT_SPEED 1.500000 #define MISSION_DISTANCE 6440.376466 #define MISSION_TIMEOUT 9000 #define DEPTH_MAX 932.972931 #define DEPTH_ABORT 957.972931 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 20.000000 #define ALTITUDE_ABORT 10.000000 #define DELTA_DEPTH_RESTART 40.000000 #define ALTITUDE_DESIRED2 50.000000 #define ALTITUDE_DESIRED3 50.000000 #define DEPTH_CONSTANT 890.000000 #define DEPTH_CONSTANT2 890.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 2.000000 #define DESCENDPITCH -35.000000 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; deltaDepthRestart = DELTA_DEPTH_RESTART; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1436; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = ASCENTDESCENT_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 1005.017425 meters # Minimum depth: 957.972931 meters looking forward 0.000000 meters along route # Maximum depth: 957.972931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.972931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776809; longitude = -122.006097; duration = 4020; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 907.972931; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 907.972931 # Seafloor depth: -957.972931 # behavior waypoint_wall { escape = True; escapeDistance = 10; duration = 8; speed = SURVEY_SPEED; wallAbsentTime = 70; standOff = 50; sonarTimeOut = 2; initialDepth = 890.000000; finalDepth = 890.000000; } behavior reson { duration = RESON_DURATION; 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 9 # Segment length 547.751936 meters # Minimum depth: 927.151413 meters looking forward 0.000000 meters along route # Maximum depth: 927.151413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773421; longitude = -121.995653; lastLatitude = 36.776227; lastLongitude = -122.000703; duration = 915; initialDepth = 890.000000; finalDepth = 890.000000; speed = SURVEY_SPEED; standOff = 30; sonarTimeOut = 2; waypointPriority = 0; wallAbsentTime = 60; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 890 # Seafloor depth: -927.151413 # behavior reson { duration = RESON_DURATION; 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 8 # Segment length 547.751935 meters # Minimum depth: 943.799179 meters looking forward 0.000000 meters along route # Maximum depth: 943.799179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776227; longitude = -122.000703; duration = 2191; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 890.000000; speed = SURVEY_SPEED; } behavior waypoint_wall { escape = True; escapeDistance = 10; duration = 8; speed = SURVEY_SPEED; wallAbsentTime = 70; standOff = 50; sonarTimeOut = 2; initialDepth = 890.000000; finalDepth = 890.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 53.799179 # Actual altitude: 53.799179 # Commanded vehicle depth: 890 # Seafloor depth: -943.799179 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.14; 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 7 # Segment length 236.887418 meters # Minimum depth: 927.151413 meters looking forward 0.000000 meters along route # Maximum depth: 927.151413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773421; longitude = -121.995653; lastLatitude = 36.774809; lastLongitude = -121.993636; duration = 720; initialDepth = 890.000000; finalDepth = 890.000000; speed = SURVEY_SPEED; wallAbsentTime = 60; standOff = 50; sonarTimeOut = 2; waypointPriority = 0; } behavior waypoint_wall { escape = True; escapeDistance = 10; duration = 8; speed = SURVEY_SPEED; wallAbsentTime = 70; standOff = 50; sonarTimeOut = 2; initialDepth = 890.000000; finalDepth = 890.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 53.799179 # Actual altitude: 53.799179 # Commanded vehicle depth: 890 # Seafloor depth: -927.151413 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.14; 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 6 # Segment length 207.983120 meters # Minimum depth: 951.245651 meters looking forward 0.000000 meters along route # Maximum depth: 951.245651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774809; longitude = -121.993636; duration = 831; # abortOnTimeout = True; initialDepth = 895.598145; finalDepth = 890.000000; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.245651 # Actual altitude: 61.245651 # Commanded vehicle depth: 890 # Seafloor depth: -951.245651 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 544.898338 meters # Minimum depth: 945.598145 meters looking forward 0.000000 meters along route # Maximum depth: 945.598145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.598145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774773; longitude = -121.991306; duration = 2179; # abortOnTimeout = True; initialDepth = 863.532104; finalDepth = 895.598145; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.245651 # Actual altitude: 61.245651 # Commanded vehicle depth: 895.598145 # Seafloor depth: -945.598145 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 241.747781 meters # Minimum depth: 913.532104 meters looking forward 0.000000 meters along route # Maximum depth: 913.532104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.532104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772405; longitude = -121.985957; duration = 966; # abortOnTimeout = True; initialDepth = 811.286102; finalDepth = 863.532104; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 863.532104 # Seafloor depth: -913.532104 # behavior reson { duration = RESON_DURATION; 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_depth behavior to get to end of line 3 # Segment length 208.463240 meters # Minimum depth: 861.286102 meters looking forward 0.000000 meters along route # Maximum depth: 861.286102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.286102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773565; longitude = -121.983664; duration = 833; # abortOnTimeout = True; initialDepth = 760.603729; finalDepth = 811.286102; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 811.286102 # Seafloor depth: -861.286102 # behavior reson { duration = RESON_DURATION; 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_depth behavior to get to end of line 2 # Segment length 1860.164011 meters # Minimum depth: 810.603729 meters looking forward 0.000000 meters along route # Maximum depth: 810.603729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.603729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774989; longitude = -121.982140; duration = 7440; # abortOnTimeout = True; initialDepth = 298.363022; finalDepth = 760.603729; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 760.603729 # Seafloor depth: -810.603729 # behavior reson { duration = RESON_DURATION; 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_depth behavior to get to end of line 1 # Segment length 1039.711262 meters # Minimum depth: 348.363022 meters looking forward 0.000000 meters along route # Maximum depth: 348.363022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.363022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789318; longitude = -121.971315; duration = 4158; # abortOnTimeout = True; initialDepth = 55.294687; finalDepth = 298.363022; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 298.363022 # Seafloor depth: -348.363022 # behavior reson { duration = RESON_DURATION; 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; } # ####################################################### ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth: 55.294687 # Seafloor depth: -105.294687 # behavior reson { duration = RESON_DURATION; MB_Power = 218; 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; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 105.294687 meters looking forward 0.000000 meters along route # Maximum depth: 105.294687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 932.972931 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.294687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.798672; longitude = -121.972032; duration = 600; depth = 55.294687; speed = SURVEY_SPEED; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 200.0; pitch = DESCENDPITCH; speed = ASCENTDESCENT_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 200.0; speed = ASCENTDESCENT_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; 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; } # ####################################################### ####################################################### ####################################################### #######################################################