# 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: 20101115_OaTest1.rte # Mission File: 20101115_OaTest1.cfg # Distance: 4424.381268 (m) # Estimated Time: 5581 (s) 1.550 (hr) # Abort Time: 7256 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 5 # Route Points: 9 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control disabled: # Benthic imaging camera control enabled: # # Mission Parameters: # Vehicle Speed: 1.000000 (m/s) 1.943846 (knots) # Desired Vehicle Altitude: 0 (m) # Minimum Vehicle Altitude: 3 (m) # Abort Vehicle Altitude: 1 (m) # Maximum Vehicle Depth: 119.397888 (m) # Abort Vehicle Depth: 120.897888 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 48.166245 m # Spiral descent altitude: 0 m # Waypoint Spacing: 500 (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 -121.834755 36.826200 -58.166245 0.000000 1 # 1 -121.835016 36.817877 -102.633846 923.685997 1 # 2 -121.849911 36.817967 -120.897888 2252.349921 1 # 3 -121.849911 36.826440 -75.085823 3192.381030 1 # 4 -121.836099 36.826290 -57.408075 4424.381268 1 # # A total of 9 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.000000 #define MISSION_DISTANCE 4424.381268 #define MISSION_TIME 5581 #define MISSION_TIMEOUT 7256 #define DEPTH_MAX 119.397888 #define DEPTH_ABORT 120.897888 #define ALTITUDE_DESIRED 0.000000 #define ALTITUDE_MIN 3.000000 #define ALTITUDE_ABORT 1.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 48.166245 #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 MAXCROSSTRACKERROR 30 #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; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off camera imaging # Distance along survey: 4424.381268 #behavior stopCamera #{ #duration = 1; #} ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 725.872929 meters # Minimum depth: 57.408075 meters looking forward 0.000000 meters along route # Maximum depth: 57.408075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 119.397888 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 57.408075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826290; longitude = -121.836099; duration = 2177; # abortOnTimeout = True; initialDepth = 58.399051; finalDepth = 57.408075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 506.127309 meters # Minimum depth: 58.399051 meters looking forward 0.000000 meters along route # Maximum depth: 58.399051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 119.397888 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 58.399051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826378; longitude = -121.844237; duration = 1518; initialDepth = 75.085823; finalDepth = 58.399051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 433.343494 meters # Minimum depth: 75.085823 meters looking forward 0.000000 meters along route # Maximum depth: 75.085823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 119.397888 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 75.085823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826440; longitude = -121.849911; duration = 1300; # abortOnTimeout = True; initialDepth = 96.675442; finalDepth = 75.085823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 506.687615 meters # Minimum depth: 96.675442 meters looking forward 0.000000 meters along route # Maximum depth: 96.675442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 119.397888 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 96.675442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822534; longitude = -121.849911; duration = 1520; initialDepth = 120.897888; finalDepth = 96.675442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 825.830764 meters # Minimum depth: 120.897888 meters looking forward 0.000000 meters along route # Maximum depth: 120.897888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 119.397888 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 119.397888 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.817967; longitude = -121.849911; duration = 2477; # abortOnTimeout = True; initialDepth = 94.776865; finalDepth = 119.397888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 502.833160 meters # Minimum depth: 94.776865 meters looking forward 0.000000 meters along route # Maximum depth: 94.776865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 119.397888 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 94.776865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817911; longitude = -121.840653; duration = 1508; initialDepth = 102.633846; finalDepth = 94.776865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 416.800920 meters # Minimum depth: 102.633846 meters looking forward 0.000000 meters along route # Maximum depth: 102.633846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 119.397888 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 102.633846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817877; longitude = -121.835016; duration = 1250; # abortOnTimeout = True; initialDepth = 86.693625; finalDepth = 102.633846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 506.885077 meters # Minimum depth: 86.693625 meters looking forward 0.000000 meters along route # Maximum depth: 86.693625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 119.397888 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 86.693625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821633; longitude = -121.834898; duration = 1520; initialDepth = 58.166245; finalDepth = 86.693625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 506.885077 meters # Minimum depth: 58.166245 meters looking forward 0.000000 meters along route # Maximum depth: 58.166245 meters looking forward 0.000000 meters along route # Vehicle depth: 58.166245 meters behavior waypoint { latitude = 36.826200; longitude = -121.834755; duration = 43; depth = 58.166245; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 58.166245 meters set by local depth and desired altitude behavior descend { duration = 300; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 506.885077 meters # Minimum depth: 58.166245 meters looking forward 0.000000 meters along route # Maximum depth: 58.166245 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 36.826200; longitude = -121.834755; duration = 1500; depth = 30.000000; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.745839; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 180.745839; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### #######################################################