# # Modified by Rob McEwen 22 Jan 2014. # # # 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: Mission4V1.rte # Mission File: Mission4V1.cfg # Distance: 401.937525 (m) # Estimated Time: 1253 (s) 0.348 (hr) # Abort Time: 1629 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 3 # Route Points: 3 # Survey Behaviors: # Behavior for waypoint mode 0: Waypoint # Behavior for waypoint mode 1: Waypoint # Behavior for waypoint mode 2: Waypoint # Behavior for waypoint mode 3: Waypoint # Behavior for waypoint mode 4: Waypoint # 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: 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: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 77.756687 (m) # Abort Vehicle Depth: 102.756687 (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 -121.955149 36.701582 -102.104982 0.000000 3 # 1 -121.957178 36.702347 -102.756687 200.168590 3 # 2 -121.955071 36.701691 -102.219845 401.937525 4 # # A total of 3 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 1629; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 90; abortDepth = 95.0; minAltitude = 30.000000; abortAltitude = 10.000000; deltaDepthRestart = 10.000000; altTimeOut = 10.0; } ####################################################### # 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 behavior to get to end of line 2 # Segment length 201.768935 meters # Minimum depth: 102.219845 meters looking forward 0.000000 meters along route # Maximum depth: 102.219845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 77.756687 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.219845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.701691; longitude = -121.955071; duration = 403; depth = 75; speed = 1.500000; } # ####################################################### ####################################################### ####################################################### # # # Waypoint behavior to get to end of line 1 # Segment length 200.168590 meters # Minimum depth: 102.756687 meters looking forward 0.000000 meters along route # Maximum depth: 102.756687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 77.756687 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.756687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s # # For 400m instead: # lat = 36.7036 # lon = -121.9595 # behavior waypoint { latitude = 36.702347; longitude = -121.957178; duration = 400; depth = 75; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # # ####################################################### ####################################################### ####################################################### # # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 102.104982 meters looking forward 0.000000 meters along route # Maximum depth: 102.104982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 77.756687 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.104982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.701582; longitude = -121.955149; duration = 1000; depth = 75.0; speed = 1.500000; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 315.0; pitch = -35.000000; speed = 1.500000; maxDepth = 45.; minAltitude = 35.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 315.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### #######################################################