

# 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 11:22:15 PST 2013>
# 
# Mission Summary:
#     Route File:               2013_NearshoreWallTest_1v5.rte
#     Mission File:             2013_NearshoreWallTest_1v5.cfg
#     Distance:                 2301.368197 (m)
#     Estimated Time:           2698 (s)  0.750 (hr)
#     Abort Time:               3508 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              337 (s)
#     Way Points:               12
#     Route Points:             22
#     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:      327.790818 (m)
#     Abort Vehicle Depth:        352.790818 (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 -78.922873 0.000000 3
#   1 -121.867793 36.802673 -226.811447 713.893345 1
#   2 -121.865676 36.799009 -329.815674 1162.127691 3
#   3 -121.864892 36.798883 -341.301575 1233.460113 1
#   4 -121.864324 36.799646 -351.865517 1332.120140 1
#   5 -121.862957 36.800781 -356.088582 1507.433980 1
#   6 -121.862606 36.801298 -353.666707 1572.757801 1
#   7 -121.862240 36.802295 -350.149170 1688.123430 1
#   8 -121.861665 36.802866 -348.254959 1769.617832 1
#   9 -121.860544 36.803190 -342.768265 1875.893013 1
#   10 -121.858759 36.803454 -309.177986 2037.814736 1
#   11 -121.855853 36.803881 -282.834625 2301.368197 4
# 
# A total of 22 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 3508;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 327.790818;
abortDepth = 352.790818;
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 = 337;
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 163.033006 meters
#   Minimum depth: 280.995386 meters looking forward 100.000000 meters along route
#   Maximum depth: 296.412348 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 230.995386 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 = 244.989668;
finalDepth = 230.995386;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.520455 meters
#   Minimum depth: 294.989668 meters looking forward 100.000000 meters along route
#   Maximum depth: 308.963971 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 244.989668 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 = 201;
initialDepth = 259.177986;
finalDepth = 244.989668;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 161.921723 meters
#   Minimum depth: 309.177986 meters looking forward 100.000000 meters along route
#   Maximum depth: 345.350744 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 259.177986 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 = 323;
# abortOnTimeout    = True; 
initialDepth = 292.768265;
finalDepth = 259.177986;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 106.275181 meters
#   Minimum depth: 342.768265 meters looking forward 100.000000 meters along route
#   Maximum depth: 348.244484 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 292.768265 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803190;
longitude = -121.860544;
duration = 212;
# abortOnTimeout    = True; 
initialDepth = 296.723899;
finalDepth = 292.768265;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 81.494402 meters
#   Minimum depth: 346.723899 meters looking forward 100.000000 meters along route
#   Maximum depth: 351.315418 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.723899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802866;
longitude = -121.861665;
duration = 162;
# abortOnTimeout    = True; 
initialDepth = 300.149170;
finalDepth = 296.723899;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 115.365629 meters
#   Minimum depth: 350.149170 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.134517 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 300.149170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802295;
longitude = -121.862240;
duration = 230;
# abortOnTimeout    = True; 
initialDepth = 302.790818;
finalDepth = 300.149170;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 65.323821 meters
#   Minimum depth: 352.790818 meters looking forward 100.000000 meters along route
#   Maximum depth: 356.252405 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 302.790818 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801298;
longitude = -121.862606;
duration = 130;
# abortOnTimeout    = True; 
initialDepth = 298.064818;
finalDepth = 302.790818;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 175.313840 meters
#   Minimum depth: 348.064818 meters looking forward 100.000000 meters along route
#   Maximum depth: 356.088582 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 298.064818 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800781;
longitude = -121.862957;
duration = 350;
# abortOnTimeout    = True; 
initialDepth = 291.350532;
finalDepth = 298.064818;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 98.660027 meters
#   Minimum depth: 341.350532 meters looking forward 100.000000 meters along route
#   Maximum depth: 353.071423 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 291.350532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799646;
longitude = -121.864324;
duration = 197;
# abortOnTimeout    = True; 
initialDepth = 279.880719;
finalDepth = 291.350532;
speed = 1.500000;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 71.332422 meters
#   Minimum depth: 329.880719 meters looking forward 100.000000 meters along route
#   Maximum depth: 342.817780 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 279.880719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798883;
longitude = -121.864892;
duration = 142;
# abortOnTimeout    = True; 
initialDepth = 222.511701;
finalDepth = 279.880719;
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 144.761075 meters
#   Minimum depth: 272.511701 meters looking forward 100.000000 meters along route
#   Maximum depth: 329.815674 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 222.511701 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 = 289;
# abortOnTimeout    = True; 
initialDepth = 207.838257;
finalDepth = 222.511701;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.427742 meters
#   Minimum depth: 257.838257 meters looking forward 100.000000 meters along route
#   Maximum depth: 272.421841 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 207.838257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800192;
longitude = -121.866360;
duration = 202;
initialDepth = 194.665195;
finalDepth = 207.838257;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.824458 meters
#   Minimum depth: 244.665195 meters looking forward 100.000000 meters along route
#   Maximum depth: 257.832643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 194.665195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801021;
longitude = -121.866839;
duration = 203;
initialDepth = 176.944964;
finalDepth = 194.665195;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.221071 meters
#   Minimum depth: 226.944964 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.589928 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 176.944964 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801854;
longitude = -121.867320;
duration = 200;
initialDepth = 160.186861;
finalDepth = 176.944964;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 104.746171 meters
#   Minimum depth: 210.186861 meters looking forward 100.000000 meters along route
#   Maximum depth: 226.811447 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 160.186861 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 = 209;
# abortOnTimeout    = True; 
initialDepth = 141.206701;
finalDepth = 160.186861;
speed = 1.500000;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.958450 meters
#   Minimum depth: 191.206701 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.860237 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 141.206701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803599;
longitude = -121.867563;
duration = 203;
initialDepth = 113.041344;
finalDepth = 141.206701;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.958424 meters
#   Minimum depth: 163.041344 meters looking forward 100.000000 meters along route
#   Maximum depth: 190.860768 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 113.041344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804500;
longitude = -121.867339;
duration = 203;
initialDepth = 75.836603;
finalDepth = 113.041344;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.958397 meters
#   Minimum depth: 125.836603 meters looking forward 100.000000 meters along route
#   Maximum depth: 162.625167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 75.836603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805401;
longitude = -121.867115;
duration = 203;
initialDepth = 45.967736;
finalDepth = 75.836603;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.958372 meters
#   Minimum depth: 95.967736 meters looking forward 100.000000 meters along route
#   Maximum depth: 125.250855 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 45.967736 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806302;
longitude = -121.866891;
duration = 203;
initialDepth = 31.807660;
finalDepth = 45.967736;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.867207 meters
#   Minimum depth: 81.807660 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.644186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 31.807660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807204;
longitude = -121.866667;
duration = 201;
initialDepth = 28.534066;
finalDepth = 31.807660;
speed = 1.500000;
}
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.446324 meters
#   Minimum depth: 78.534066 meters looking forward 100.000000 meters along route
#   Maximum depth: 84.208700 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 28.534066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808095;
longitude = -121.866446;
duration = 200;
initialDepth = 28.534066;
finalDepth = 28.534066;
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: 78.534066 meters looking forward 100.000000 meters along route
#   Maximum depth: 84.208700 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 327.790818 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 28.534066 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 = 1000;
initialDepth = 28.534066;
finalDepth = 28.534066;
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 = 300.0;
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 = 300.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
#######################################################
