

# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <deitz> at <Thu Feb 21 13:47:40 PST 2013>
# 
# Mission Summary:
#     Route File:               2013_NearshoreWallTest_1v6.rte
#     Mission File:             2013_NearshoreWallTest_1v6.cfg
#     Distance:                 2317.528592 (m)
#     Estimated Time:           2713 (s)  0.754 (hr)
#     Abort Time:               3527 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              342 (s)
#     Way Points:               12
#     Route Points:             23
#     Survey behavior:          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:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      328.944824 (m)
#     Abort Vehicle Depth:        353.944824 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   100 (m)
#     Waypoint Spacing:           100 (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:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.866225 36.808983 -79.542402 0.000000 3
#   1 -121.867793 36.802673 -226.616447 713.893345 1
#   2 -121.865676 36.799009 -324.734810 1162.127691 3
#   3 -121.865036 36.798723 -334.163025 1227.403913 1
#   4 -121.863187 36.799620 -356.132324 1420.033482 1
#   5 -121.862029 36.800778 -354.368774 1584.887907 1
#   6 -121.861787 36.801581 -353.550903 1676.581278 1
#   7 -121.861469 36.802347 -348.649495 1766.133270 1
#   8 -121.860946 36.802926 -348.464803 1845.522533 1
#   9 -121.859788 36.803411 -339.788167 1962.033430 1
#   10 -121.858759 36.803454 -336.754257 2053.975132 1
#   11 -121.855853 36.803881 -288.270531 2317.528592 4
# 
# A total of 23 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 3527;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 328.944824;
abortDepth = 353.944824;
minAltitude = 50.000000;
abortAltitude = 25.000000;
deltaDepthRestart = 25.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 342;
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;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 163.108151 meters
#   Minimum depth: 285.241552 meters looking forward 100.000000 meters along route
#   Maximum depth: 304.402199 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 235.241552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803881;
longitude = -121.855853;
duration = 326;
# abortOnTimeout    = True; 
initialDepth = 251.618400;
finalDepth = 235.241552;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.445309 meters
#   Minimum depth: 301.618400 meters looking forward 100.000000 meters along route
#   Maximum depth: 337.736405 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 251.618400 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803617;
longitude = -121.857651;
duration = 200;
initialDepth = 286.192389;
finalDepth = 251.618400;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 91.941702 meters
#   Minimum depth: 336.192389 meters looking forward 100.000000 meters along route
#   Maximum depth: 343.046247 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 286.192389 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803454;
longitude = -121.858759;
duration = 183;
# abortOnTimeout    = True; 
initialDepth = 289.788167;
finalDepth = 286.192389;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 116.510897 meters
#   Minimum depth: 339.788167 meters looking forward 100.000000 meters along route
#   Maximum depth: 350.377229 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 289.788167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803411;
longitude = -121.859788;
duration = 233;
# abortOnTimeout    = True; 
initialDepth = 298.116027;
finalDepth = 289.788167;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 79.389263 meters
#   Minimum depth: 348.116027 meters looking forward 100.000000 meters along route
#   Maximum depth: 352.710114 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 298.116027 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802926;
longitude = -121.860946;
duration = 158;
# abortOnTimeout    = True; 
initialDepth = 296.121068;
finalDepth = 298.116027;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 89.551992 meters
#   Minimum depth: 346.121068 meters looking forward 100.000000 meters along route
#   Maximum depth: 354.971910 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.121068 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802347;
longitude = -121.861469;
duration = 179;
# abortOnTimeout    = True; 
initialDepth = 301.633782;
finalDepth = 296.121068;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 91.693371 meters
#   Minimum depth: 351.633782 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.472175 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 301.633782 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801581;
longitude = -121.861787;
duration = 183;
# abortOnTimeout    = True; 
initialDepth = 303.944824;
finalDepth = 301.633782;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 164.854425 meters
#   Minimum depth: 353.944824 meters looking forward 100.000000 meters along route
#   Maximum depth: 357.681976 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 303.944824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800778;
longitude = -121.862029;
duration = 329;
# abortOnTimeout    = True; 
initialDepth = 288.889431;
finalDepth = 303.944824;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 92.301474 meters
#   Minimum depth: 338.889431 meters looking forward 100.000000 meters along route
#   Maximum depth: 356.842312 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 288.889431 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799620;
longitude = -121.863187;
duration = 184;
# abortOnTimeout    = True; 
initialDepth = 280.577885;
finalDepth = 288.889431;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.328095 meters
#   Minimum depth: 330.577885 meters looking forward 100.000000 meters along route
#   Maximum depth: 338.991920 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 280.577885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799190;
longitude = -121.864073;
duration = 200;
initialDepth = 276.103904;
finalDepth = 280.577885;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 65.276222 meters
#   Minimum depth: 326.103904 meters looking forward 100.000000 meters along route
#   Maximum depth: 335.382020 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 276.103904 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798723;
longitude = -121.865036;
duration = 130;
# abortOnTimeout    = True; 
initialDepth = 225.220629;
finalDepth = 276.103904;
speed = 1.500000;
}
# 
# 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 2
#   Segment length 138.715540 meters
#   Minimum depth: 275.220629 meters looking forward 100.000000 meters along route
#   Maximum depth: 324.734810 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 225.220629 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799009;
longitude = -121.865676;
duration = 277;
# abortOnTimeout    = True; 
initialDepth = 208.069164;
finalDepth = 225.220629;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.815650 meters
#   Minimum depth: 258.069164 meters looking forward 100.000000 meters along route
#   Maximum depth: 273.976021 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 208.069164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800143;
longitude = -121.866331;
duration = 205;
initialDepth = 194.890950;
finalDepth = 208.069164;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.461069 meters
#   Minimum depth: 244.890950 meters looking forward 100.000000 meters along route
#   Maximum depth: 257.898473 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 194.890950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800983;
longitude = -121.866817;
duration = 210;
initialDepth = 177.385955;
finalDepth = 194.890950;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.242087 meters
#   Minimum depth: 227.385955 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.478342 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 177.385955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801845;
longitude = -121.867315;
duration = 202;
initialDepth = 160.652287;
finalDepth = 177.385955;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 106.771566 meters
#   Minimum depth: 210.652287 meters looking forward 100.000000 meters along route
#   Maximum depth: 226.616447 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 160.652287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802673;
longitude = -121.867793;
duration = 213;
# abortOnTimeout    = True; 
initialDepth = 142.026849;
finalDepth = 160.652287;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.424341 meters
#   Minimum depth: 192.026849 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.734380 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 142.026849 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803617;
longitude = -121.867558;
duration = 202;
initialDepth = 115.618320;
finalDepth = 142.026849;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.424315 meters
#   Minimum depth: 165.618320 meters looking forward 100.000000 meters along route
#   Maximum depth: 190.485778 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 115.618320 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804513;
longitude = -121.867336;
duration = 202;
initialDepth = 77.810936;
finalDepth = 115.618320;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.424290 meters
#   Minimum depth: 127.810936 meters looking forward 100.000000 meters along route
#   Maximum depth: 163.058087 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 77.810936 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805410;
longitude = -121.867113;
duration = 202;
initialDepth = 46.313350;
finalDepth = 77.810936;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.424263 meters
#   Minimum depth: 96.313350 meters looking forward 100.000000 meters along route
#   Maximum depth: 126.225923 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 46.313350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806306;
longitude = -121.866890;
duration = 202;
initialDepth = 32.147110;
finalDepth = 46.313350;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.424238 meters
#   Minimum depth: 82.147110 meters looking forward 100.000000 meters along route
#   Maximum depth: 94.686055 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 32.147110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807203;
longitude = -121.866667;
duration = 202;
initialDepth = 28.518064;
finalDepth = 32.147110;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.000332 meters
#   Minimum depth: 78.518064 meters looking forward 100.000000 meters along route
#   Maximum depth: 82.412211 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 28.518064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808099;
longitude = -121.866445;
duration = 200;
initialDepth = 28.518064;
finalDepth = 28.518064;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 78.518064 meters looking forward 100.000000 meters along route
#   Maximum depth: 81.897791 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 328.944824 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 28.518064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808983;
longitude = -121.866225;
duration = 600;
initialDepth = 28.518064;
finalDepth = 28.518064;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 270.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
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;
}
#######################################################
#######################################################
