# 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: 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: # # 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; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off camera imaging # Distance along survey: 1753.039256 behavior stopCamera { duration = 1; } ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 272.920321 meters # Minimum depth: 284.512044 meters looking forward 0.000000 meters along route # Maximum depth: 284.512044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 279.512044 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 10.000000 meters # Behavior depth of 279.512044 meters set to maximum vehicle depth # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796627; longitude = -121.858474; duration = 545; # abortOnTimeout = True; initialDepth = 278.281962; finalDepth = 279.512044; speed = SURVEY_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 342.343962 meters # Minimum depth: 278.281962 meters looking forward 0.000000 meters along route # Maximum depth: 278.281962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 279.512044 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 10.000000 meters # Behavior depth of 278.281962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797799; longitude = -121.855784; duration = 684; # abortOnTimeout = True; initialDepth = 278.530843; finalDepth = 278.281962; speed = SURVEY_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 446.130222 meters # Minimum depth: 278.530843 meters looking forward 0.000000 meters along route # Maximum depth: 278.530843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 279.512044 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 10.000000 meters # Behavior depth of 278.530843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799286; longitude = -121.852422; duration = 892; # abortOnTimeout = True; initialDepth = 195.307393; finalDepth = 278.530843; speed = SURVEY_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 691.644751 meters # Minimum depth: 195.307393 meters looking forward 0.000000 meters along route # Maximum depth: 195.307393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 279.512044 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 10.000000 meters # Behavior depth of 195.307393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801344; longitude = -121.848127; duration = 1383; # abortOnTimeout = True; initialDepth = 81.765299; finalDepth = 195.307393; speed = SURVEY_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 0.000000 # Length of camera run: 1753.039256 # Number of photos: 192 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - 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: 81.765299 meters looking forward 0.000000 meters along route # Maximum depth: 81.765299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 279.512044 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 10.000000 meters # Behavior depth of 81.765299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801449; longitude = -121.840375; duration = 600; initialDepth = 81.765299; finalDepth = 81.765299; speed = SURVEY_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 268.341092; 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 = 268.341092; speed = ASCENTDESCENT_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### #######################################################