# 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 2261 2016-01-07 01:49:22Z caress r # # Mission Summary: # Route File: PortDavidSarahShort2.rte # Mission File: PortDavid2.cfg # Distance: 2186.632617 (m) # Estimated Time: 2459 (s) 0.683 (hr) # Abort Time: 3196 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 5 # Route Points: 5 # 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: WaypointBottom # Behavior for waypoint mode 4: WaypointBottom # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 30 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: 3 (m) # Abort Vehicle Altitude 1: 2 (m) # Delta Depth Restart 1: 1 (m) # Desired Vehicle Altitude 1: 20 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 68 (m) # Constant Vehicle Depth 2: 68 (m) # Maximum Vehicle Depth: 86.5 (m) # Abort Vehicle Depth: 88 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 1500 (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 -121.942273 36.696285 -88.531331 0.000000 9 # 1 -121.947195 36.695207 -97.334737 455.690721 1 # 2 -121.944960 36.695186 -94.770538 655.390034 9 # 3 -121.937045 36.695114 -97.406067 1362.503793 1 # 4 -121.946269 36.695195 -96.589294 2186.632617 1 # # A total of 5 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120 behavior missionTimer { timeOut = 3394; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 70.; abortDepth = 71.; minAltitude = 20; abortAltitude = 8; deltaDepthRestart = 10.; } ####################################################### # 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 4 # Segment length 824.128824 meters # Minimum depth: 96.589294 meters looking forward 0.000000 meters along route # Maximum depth: 96.589294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 86.500000 meters # Constant vehicle depth: 68.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 68.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695195; longitude = -121.945911; lastLatitude = 36.695114; lastLongitude = -121.937045; duration = 2040; depth = 60.; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 28.589294 # Actual altitude: 28.589294 # Commanded vehicle depth: 68 # Seafloor depth: -96.589294 # behavior reson { duration = 6; MB_Range = 142.95; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.58; MB_Bottom_Detect_Filter_Max_Range = 142.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 142.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 3 # Segment length 707.113759 meters # Minimum depth: 97.406067 meters looking forward 0.000000 meters along route # Maximum depth: 97.406067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 86.500000 meters # Constant vehicle depth: 68.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 68.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695114; longitude = -121.937045; lastLatitude = 36.695783; lastLongitude = -121.939169; duration = 516; depth = 60.; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 29.406067 # Actual altitude: 29.406067 # Commanded vehicle depth: 68 # Seafloor depth: -97.406067 # behavior reson { duration = 6; MB_Range = 147.03; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.82; MB_Bottom_Detect_Filter_Max_Range = 147.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.03; 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 2 # Segment length 199.699313 meters # Minimum depth: 94.770538 meters looking forward 0.000000 meters along route # Maximum depth: 94.770538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 86.500000 meters # Constant vehicle depth: 68.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 68.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695783; longitude = -121.939169; lastLatitude = 36.695828; lastLongitude = -121.944463; duration = 1199; depth = 60.; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 29.406067 # Actual altitude: 29.406067 # Commanded vehicle depth: 68 # Seafloor depth: -94.770538 # behavior reson { duration = 6; MB_Range = 147.03; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.82; MB_Bottom_Detect_Filter_Max_Range = 147.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 1 # Segment length 455.690721 meters # Minimum depth: 97.334737 meters looking forward 0.000000 meters along route # Maximum depth: 97.334737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 86.500000 meters # Constant vehicle depth: 68.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 68.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695828; longitude = -121.944463; lastLatitude = 36.695501; lastLongitude = -121.945900; duration = 334; depth = 60.; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 29.334737 # Actual altitude: 29.334737 # Commanded vehicle depth: 68 # Seafloor depth: -97.334737 # behavior reson { duration = 6; MB_Range = 146.67; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.80; MB_Bottom_Detect_Filter_Max_Range = 146.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.67; 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: 29.334737 # Sonar parameter altitude: 29.334737 # Commanded vehicle depth: 68 # Seafloor depth: -88.531331 # behavior reson { duration = 6; MB_Power = 218; MB_Range = 146.67; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.80; MB_Bottom_Detect_Filter_Max_Range = 146.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # # Descend behavior behavior descend { horizontalMode = rudder; horizontal = 3; pitch = -35.; speed = 1.5; maxDepth = 62.; minAltitude = 20.; duration = 300; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 88.531331 meters looking forward 0.000000 meters along route # Maximum depth: 88.531331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 86.500000 meters # Constant vehicle depth: 68.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 68.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695501; longitude = -121.945900; duration = 1250; depth = 15.; speed = 1.5; reinitFilter = True; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 270.0; pitch = -35.; speed = 1.5; maxDepth = 3.; minAltitude = 30.; 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 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 = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 6.00; 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; } # ####################################################### ####################################################### ####################################################### #######################################################