# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <autonomo> at <Mon Nov 29 14:02:34 PST 2010>
# 
# Mission Summary:
#     Route File:               20101130_OaTest3.rte
#     Mission File:             20101130_OaTest3.cfg
#     Distance:                 1753.039256 (m)
#     Estimated Time:           2386 (s)  0.663 (hr)
#     Abort Time:               3102 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              341 (s)
#     Way Points:               5
#     Route Points:             5
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control disabled:          
#     Benthic imaging camera control enabled:  
# 
# 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)
#     Desired Vehicle Altitude: 0 (m)
#     Minimum Vehicle Altitude: 10 (m)
#     Abort Vehicle Altitude:   5 (m)
#     Delta Depth Restart:      5 (m)
#     Maximum Vehicle Depth:    279.512044 (m)
#     Abort Vehicle Depth:      284.512044 (m)
#     Descent Vehicle Depth:    3 (m)
#     Waypoint Spacing:         10000 (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 -121.840375 36.801449 -81.765299 0.000000 3
#   1 -121.848127 36.801344 -195.307393 691.644751 1
#   2 -121.852422 36.799286 -278.530843 1137.774973 1
#   3 -121.855784 36.797799 -278.281962 1480.118935 1
#   4 -121.858474 36.796627 -284.512044 1753.039256 4
# 
# A total of 5 mission points have been defined.
# 
# Define Mission parameters:
#define SURVEY_SPEED             1.500000
#define ASCENTDESCENT_SPEED      1.500000
#define TRANSIT_SPEED            1.500000
#define MISSION_DISTANCE         1753.039256
#define MISSION_TIME             2386
#define MISSION_TIMEOUT          3102
#define DEPTH_MAX                279.512044
#define DEPTH_ABORT              284.512044
#define ALTITUDE_DESIRED         0.000000
#define ALTITUDE_MIN             10.000000
#define ALTITUDE_ABORT           5.000000
#define DELTA_DEPTH_RESTART      5.000000
#define GPS_DURATION             600
#define DESCENT_DEPTH            3.000000
#define SPIRAL_DESCENT_DEPTH     0.000000
#define SPIRAL_DESCENT_ALTITUDE  0.000000
#define DESCEND_DURATION         300
#define SETPOINT_DURATION        30
#define GPSMINHITS               10
#define ASCENDRUDDER             3.000000
#define ASCENDPITCH              45.000000
#define ASCENDENDDEPTH           2.000000
#define DESCENDRUDDER            3.000000
#define DESCENDPITCH             -30.000000
#define RESON_DURATION           6
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer 
{
timeOut = MISSION_TIMEOUT;
}
# 
# depth envelope
behavior depthEnvelope 
{
minDepth      = 0;
maxDepth      = DEPTH_MAX;
abortDepth    = DEPTH_ABORT;
minAltitude   = ALTITUDE_MIN;
abortAltitude = ALTITUDE_ABORT;
deltaDepthRestart = DELTA_DEPTH_RESTART;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = True; 
} 
# 
# ascend behavior 
behavior ascend  
{ 
duration  = 341; 
horizontalMode   = rudder; 
horizontal       = ASCENDRUDDER; 
pitch            = ASCENDPITCH; 
speed            = ASCENTDESCENT_SPEED; 
endDepth         = ASCENDENDDEPTH; 
} 

#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{ 
latitude           = 36.801449; 
longitude          = -121.840375; 
duration           = 1800; 
depth       = 81.765299; 
speed              = 1.5; 
} 
#######################################################
# Acoustic update - sent status ping after end of line 
# 
behavior acousticUpdate 
{ 
duration  = 2; 
dummy  = 1; 
} 
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 167.0; 
pitch        = DESCENDPITCH; 
speed        = ASCENTDESCENT_SPEED; 
maxDepth     = DESCENT_DEPTH; 
minAltitude  = ALTITUDE_MIN; 
duration     = DESCEND_DURATION; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = SETPOINT_DURATION; 
heading      = 167.0; 
speed        = ASCENTDESCENT_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = True; 
} 
#######################################################
#######################################################