# # Modified by Rob M. on 22 Jan 2014 to use waypoint_bottom. # # 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: Mission1V2.rte # Mission File: Mission1V2.cfg # Distance: 1694.110746 (m) # Estimated Time: 2092 (s) 0.581 (hr) # Abort Time: 2720 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 3 # Route Points: 9 # 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 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: 25 (m) # Delta Depth Restart 1: 25 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 30 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 55 (m) # Abort Vehicle Depth: 80 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 200 (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: # # 0 -121.946294 36.698065 -97.834880 0.000000 9 # 1 -121.937455 36.695313 -97.289083 846.632603 9 # 2 -121.946260 36.698154 -97.764028 1694.110746 10 # # A total of 9 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 2720; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 85.000000; abortDepth = 90.000000; minAltitude = 10.000000; abortAltitude = 5.000000; deltaDepthRestart = 25.000000; } ####################################################### # 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; } # ####################################################### # # # waypoint_bottom behavior to get to end of line 2 # Segment length 245.877014 meters # Minimum depth: 97.764028 meters looking forward 0.000000 meters along route # Maximum depth: 97.764028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.698154; longitude = -121.946260; duration = 491; depth = 80; speed = 1.500000; } # ####################################################### # # # waypoint_bottom behavior during line 2 # Segment length 200.292821 meters # Minimum depth: 78.874572 meters looking forward 0.000000 meters along route # Maximum depth: 78.874572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.697330; longitude = -121.943705; duration = 400; depth = 65; speed = 1.500000; } # # # # waypoint_bottom behavior during line 2 # Segment length 200.294406 meters # Minimum depth: 89.223132 meters looking forward 0.000000 meters along route # Maximum depth: 89.223132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.696659; longitude = -121.941624; duration = 400; depth = 65; speed = 1.500000; } # # # # waypoint_bottom behavior during line 2 # Segment length 201.013902 meters # Minimum depth: 84.041222 meters looking forward 0.000000 meters along route # Maximum depth: 84.041222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.695987; longitude = -121.939543; duration = 402; depth = 65; speed = 1.500000; } # # ####################################################### ####################################################### # # # waypoint_bottom behavior to get to end of line 1 # Segment length 245.061912 meters # Minimum depth: 97.289083 meters looking forward 0.000000 meters along route # Maximum depth: 97.289083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.695313; longitude = -121.937455; duration = 490; depth = 65; speed = 1.500000; } # ####################################################### # # # waypoint_bottom behavior during line 1 # Segment length 200.406045 meters # Minimum depth: 88.183263 meters looking forward 0.000000 meters along route # Maximum depth: 88.183263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.696110; longitude = -121.940013; duration = 400; depth = 65; speed = 1.500000; } # # # # waypoint_bottom behavior during line 1 # Segment length 200.404489 meters # Minimum depth: 88.833696 meters looking forward 0.000000 meters along route # Maximum depth: 88.833696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.696761; longitude = -121.942105; duration = 400; depth = 65; speed = 1.500000; } # # # # waypoint_bottom behavior during line 1 # Segment length 200.760157 meters # Minimum depth: 90.183833 meters looking forward 0.000000 meters along route # Maximum depth: 90.183833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.697412; longitude = -121.944198; duration = 401; depth = 80; speed = 1.500000; } # # ####################################################### ####################################################### # # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 97.834880 meters looking forward 0.000000 meters along route # Maximum depth: 97.834880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.000000 meters # Constant vehicle depth: 30.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.698065; longitude = -121.946294; duration = 600; depth = 80.000000; speed = 1.500000; } ####################################################### # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.0; pitch = -35.000000; speed = 1.500000; maxDepth = 75; minAltitude = 10.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### #######################################################