# 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: EdgeSurvey.rte # Mission File: EdgeSurvey.cfg # Distance: 12804.021295 (m) # Estimated Time: 14015 (s) 3.893 (hr) # Abort Time: 16818 (s) # Way Points: 9 # Route Points: 68 # # Mission Parameters: # Minimum Vehicle Altitude: 30 (m) # Abort Vehicle Altitude: 20 (m) # Maximum Vehicle Depth: 150 (m) # Abort Vehicle Depth: 180 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 400 (m) # Waypoint Spacing: 200 (m) # GPS Duration: 600 (s) # Ascend Rate: 0.5 (m/s) # Descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.045255 36.803840 -113.217314 0.000000 3 # 1 -122.011127 36.816797 -124.509230 3366.724858 4 # 2 -122.011605 36.817612 -114.206020 3466.724858 3 # 3 -122.045734 36.804655 -109.206060 6833.449717 4 # 4 -122.046213 36.805470 -103.688683 6933.449717 3 # 5 -122.012084 36.818427 -104.084894 10300.174575 4 # 6 -122.012576 36.819329 -99.407328 10409.504128 1 # 7 -122.031844 36.812160 -95.498006 12303.262066 1 # 8 -122.029417 36.808090 -196.944234 12804.021295 1 # # A total of 68 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 12804.021295 #define MISSION_TIME 14015 #define MISSION_TIMEOUT 16818 #define DEPTH_MAX 150.000000 #define DEPTH_ABORT 180.000000 #define ALTITUDE_MIN 30.000000 #define ALTITUDE_ABORT 20.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 60 #define ASCENDRUDDER 10.000000 #define ASCENDPITCH 20.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDPITCH -15.000000 #define MAXCROSSTRACKERROR 20 #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 = False; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # ####################################################### # # Waypoint behavior to get to end of line 8 # Segment length 91.882795 meters # Minimum depth: 172.599370 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 142.599370 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.808090; longitude = -122.029417; captureRadius = 10; duration = 73; depth = 142.599370; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 8 # Segment length 206.735685 meters # Minimum depth: 110.770094 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 80.770094 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.808837; longitude = -122.029862; captureRadius = 10; duration = 165; depth = 80.770094; speed = MISSION_SPEED; } # # Waypoint behavior during line 8 # Segment length 202.140749 meters # Minimum depth: 95.846838 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.846838 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.810517; longitude = -122.030864; captureRadius = 10; duration = 161; depth = 65.846838; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to end of line 7 # Segment length 14.680825 meters # Minimum depth: 95.413691 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.413691 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.812160; longitude = -122.031844; captureRadius = 10; duration = 11; depth = 65.413691; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 7 # Segment length 209.200858 meters # Minimum depth: 95.260667 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.260667 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.812216; longitude = -122.031694; captureRadius = 10; duration = 167; depth = 65.260667; speed = MISSION_SPEED; } # # Waypoint behavior during line 7 # Segment length 209.199172 meters # Minimum depth: 94.755466 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 64.755466 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.813008; longitude = -122.029566; captureRadius = 10; duration = 167; depth = 64.755466; speed = MISSION_SPEED; } # # Waypoint behavior during line 7 # Segment length 209.197487 meters # Minimum depth: 92.718575 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 62.718575 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.813800; longitude = -122.027438; captureRadius = 10; duration = 167; depth = 62.718575; speed = MISSION_SPEED; } # # Waypoint behavior during line 7 # Segment length 209.195802 meters # Minimum depth: 91.572859 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.572859 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.814592; longitude = -122.025309; captureRadius = 10; duration = 167; depth = 61.572859; speed = MISSION_SPEED; } # # Waypoint behavior during line 7 # Segment length 209.194116 meters # Minimum depth: 91.315040 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.315040 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.815384; longitude = -122.023181; captureRadius = 10; duration = 167; depth = 61.315040; speed = MISSION_SPEED; } # # Waypoint behavior during line 7 # Segment length 209.192431 meters # Minimum depth: 91.315040 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.315040 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.816176; longitude = -122.021052; captureRadius = 10; duration = 167; depth = 61.315040; speed = MISSION_SPEED; } # # Waypoint behavior during line 7 # Segment length 209.190747 meters # Minimum depth: 91.552224 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.552224 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.816968; longitude = -122.018924; captureRadius = 10; duration = 167; depth = 61.552224; speed = MISSION_SPEED; } # # Waypoint behavior during line 7 # Segment length 209.189062 meters # Minimum depth: 91.366219 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.366219 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.817759; longitude = -122.016796; captureRadius = 10; duration = 167; depth = 61.366219; speed = MISSION_SPEED; } # # Waypoint behavior during line 7 # Segment length 205.517438 meters # Minimum depth: 91.366219 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.366219 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.818551; longitude = -122.014667; captureRadius = 10; duration = 164; depth = 61.366219; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to end of line 6 # Segment length 109.329553 meters # Minimum depth: 93.268783 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 63.268783 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.819329; longitude = -122.012576; captureRadius = 10; duration = 87; depth = 63.268783; speed = MISSION_SPEED; } ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 5 at end of line 5 # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 335.724938; 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 = 335.724938; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # # Waypoint behavior to get to end of line 5 # Segment length 105.076392 meters # Minimum depth: 97.420152 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 67.420152 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.818427; longitude = -122.012084; captureRadius = 10; duration = 84; depth = 67.420152; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 5 # Segment length 205.000562 meters # Minimum depth: 92.367263 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 62.367263 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.818023; longitude = -122.013149; captureRadius = 10; duration = 164; depth = 62.367263; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 202.473360 meters # Minimum depth: 91.360535 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.360535 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.817234; longitude = -122.015227; captureRadius = 10; duration = 161; depth = 61.360535; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 206.373823 meters # Minimum depth: 91.360535 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.360535 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.816454; longitude = -122.017280; captureRadius = 10; duration = 165; depth = 61.360535; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 201.106553 meters # Minimum depth: 91.182851 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.182851 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.815660; longitude = -122.019372; captureRadius = 10; duration = 160; depth = 61.182851; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 203.742610 meters # Minimum depth: 91.182851 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.182851 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.814886; longitude = -122.021411; captureRadius = 10; duration = 162; depth = 61.182851; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 203.744223 meters # Minimum depth: 91.577400 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 61.577400 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.814102; longitude = -122.023476; captureRadius = 10; duration = 162; depth = 61.577400; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 203.745838 meters # Minimum depth: 92.086453 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 62.086453 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.813318; longitude = -122.025542; captureRadius = 10; duration = 162; depth = 62.086453; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 204.281945 meters # Minimum depth: 95.165728 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.165728 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.812534; longitude = -122.027607; captureRadius = 10; duration = 163; depth = 65.165728; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 203.214574 meters # Minimum depth: 97.108707 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 67.108707 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.811747; longitude = -122.029678; captureRadius = 10; duration = 162; depth = 67.108707; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 205.655272 meters # Minimum depth: 95.570811 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.570811 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.810965; longitude = -122.031738; captureRadius = 10; duration = 164; depth = 65.570811; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 201.847706 meters # Minimum depth: 95.570811 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.570811 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.810174; longitude = -122.033823; captureRadius = 10; duration = 161; depth = 65.570811; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 207.028644 meters # Minimum depth: 95.615711 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.615711 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.809397; longitude = -122.035869; captureRadius = 10; duration = 165; depth = 65.615711; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 200.480793 meters # Minimum depth: 96.946734 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 66.946734 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.808600; longitude = -122.037967; captureRadius = 10; duration = 160; depth = 66.946734; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 203.757142 meters # Minimum depth: 97.237102 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 67.237102 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.807829; longitude = -122.040000; captureRadius = 10; duration = 163; depth = 67.237102; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 203.758757 meters # Minimum depth: 98.568534 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 68.568534 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.807045; longitude = -122.042065; captureRadius = 10; duration = 163; depth = 68.568534; speed = MISSION_SPEED; } # # Waypoint behavior during line 5 # Segment length 205.436664 meters # Minimum depth: 98.568534 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 68.568534 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.806260; longitude = -122.044131; captureRadius = 10; duration = 164; depth = 68.568534; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to end of line 4 # Segment length 100.000000 meters # Minimum depth: 99.016226 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 69.016226 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.805470; longitude = -122.046213; captureRadius = 10; duration = 80; depth = 69.016226; speed = MISSION_SPEED; } ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 3 at end of line 3 # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 334.143241; 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 = 334.143241; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # # Waypoint behavior to get to end of line 3 # Segment length 97.029941 meters # Minimum depth: 100.866533 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 70.866533 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.804655; longitude = -122.045734; captureRadius = 10; duration = 77; depth = 70.866533; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 3 # Segment length 205.035588 meters # Minimum depth: 103.762866 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 73.762866 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.805028; longitude = -122.044751; captureRadius = 10; duration = 164; depth = 73.762866; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 202.486165 meters # Minimum depth: 104.887521 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 74.887521 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.805817; longitude = -122.042672; captureRadius = 10; duration = 161; depth = 74.887521; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 206.401761 meters # Minimum depth: 107.754363 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 77.754363 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.806596; longitude = -122.040620; captureRadius = 10; duration = 165; depth = 77.754363; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 201.113531 meters # Minimum depth: 110.546562 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 80.546562 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.807391; longitude = -122.038528; captureRadius = 10; duration = 160; depth = 80.546562; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 203.755223 meters # Minimum depth: 110.563027 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 80.563027 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.808165; longitude = -122.036489; captureRadius = 10; duration = 163; depth = 80.563027; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 203.753608 meters # Minimum depth: 110.563027 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 80.563027 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.808949; longitude = -122.034423; captureRadius = 10; duration = 163; depth = 80.563027; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 203.751994 meters # Minimum depth: 110.359915 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 80.359915 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.809733; longitude = -122.032358; captureRadius = 10; duration = 163; depth = 80.359915; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 204.291758 meters # Minimum depth: 102.537848 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 72.537848 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.810517; longitude = -122.030293; captureRadius = 10; duration = 163; depth = 72.537848; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 203.207386 meters # Minimum depth: 99.066934 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 69.066934 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.811303; longitude = -122.028222; captureRadius = 10; duration = 162; depth = 69.066934; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 205.657869 meters # Minimum depth: 94.539230 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 64.539230 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.812086; longitude = -122.026162; captureRadius = 10; duration = 164; depth = 64.539230; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 201.834817 meters # Minimum depth: 92.835730 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 62.835730 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.812877; longitude = -122.024077; captureRadius = 10; duration = 161; depth = 62.835730; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 207.023938 meters # Minimum depth: 92.354288 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 62.354288 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.813654; longitude = -122.022031; captureRadius = 10; duration = 165; depth = 62.354288; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 200.462293 meters # Minimum depth: 92.354288 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 62.354288 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.814451; longitude = -122.019932; captureRadius = 10; duration = 160; depth = 62.354288; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 208.389963 meters # Minimum depth: 92.923265 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 62.923265 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.815222; longitude = -122.017900; captureRadius = 10; duration = 166; depth = 62.923265; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 209.948633 meters # Minimum depth: 93.790797 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 63.790797 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.816024; longitude = -122.015787; captureRadius = 10; duration = 167; depth = 63.790797; speed = MISSION_SPEED; } # # Waypoint behavior during line 3 # Segment length 202.580391 meters # Minimum depth: 94.669104 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 64.669104 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.816832; longitude = -122.013659; captureRadius = 10; duration = 162; depth = 64.669104; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to end of line 2 # Segment length 100.000000 meters # Minimum depth: 101.298381 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 71.298381 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.817612; longitude = -122.011605; captureRadius = 10; duration = 80; depth = 71.298381; speed = MISSION_SPEED; } ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 1 at end of line 1 # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 334.143241; 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 = 334.143241; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # # Waypoint behavior to get to end of line 1 # Segment length 88.958165 meters # Minimum depth: 102.324772 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 72.324772 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.816797; longitude = -122.011127; captureRadius = 10; duration = 71; depth = 72.324772; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 1 # Segment length 205.022821 meters # Minimum depth: 110.596940 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 80.596940 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.816454; longitude = -122.012029; captureRadius = 10; duration = 164; depth = 80.596940; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.459120 meters # Minimum depth: 104.159726 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 74.159726 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.815665; longitude = -122.014107; captureRadius = 10; duration = 161; depth = 74.159726; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 206.394696 meters # Minimum depth: 99.019784 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 69.019784 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.814886; longitude = -122.016160; captureRadius = 10; duration = 165; depth = 69.019784; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 201.093699 meters # Minimum depth: 97.156099 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 67.156099 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.814092; longitude = -122.018252; captureRadius = 10; duration = 160; depth = 67.156099; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.746619 meters # Minimum depth: 95.247229 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.247229 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.813318; longitude = -122.020290; captureRadius = 10; duration = 162; depth = 65.247229; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.748232 meters # Minimum depth: 95.247229 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 65.247229 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.812534; longitude = -122.022356; captureRadius = 10; duration = 162; depth = 65.247229; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.749847 meters # Minimum depth: 97.013734 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 67.013734 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.811749; longitude = -122.024421; captureRadius = 10; duration = 162; depth = 67.013734; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 204.299262 meters # Minimum depth: 102.500721 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 72.500721 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.810965; longitude = -122.026487; captureRadius = 10; duration = 163; depth = 72.500721; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.205274 meters # Minimum depth: 107.409650 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 77.409650 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.810179; longitude = -122.028558; captureRadius = 10; duration = 162; depth = 77.409650; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 205.671203 meters # Minimum depth: 113.448711 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 83.448711 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.809397; longitude = -122.030618; captureRadius = 10; duration = 164; depth = 83.448711; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 201.839791 meters # Minimum depth: 118.065248 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 88.065248 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.808605; longitude = -122.032702; captureRadius = 10; duration = 161; depth = 88.065248; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 207.043189 meters # Minimum depth: 118.924051 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 88.924051 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.807829; longitude = -122.034748; captureRadius = 10; duration = 165; depth = 88.924051; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 200.474264 meters # Minimum depth: 117.452097 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 87.452097 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.807032; longitude = -122.036847; captureRadius = 10; duration = 160; depth = 87.452097; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 208.415219 meters # Minimum depth: 113.430792 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 83.430792 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.806260; longitude = -122.038879; captureRadius = 10; duration = 166; depth = 83.430792; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 209.972803 meters # Minimum depth: 112.527274 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 82.527274 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.805458; longitude = -122.040992; captureRadius = 10; duration = 167; depth = 82.527274; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 210.630654 meters # Minimum depth: 112.527274 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 82.527274 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.804650; longitude = -122.043120; captureRadius = 10; duration = 168; depth = 82.527274; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 112.527274 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 82.527274 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.803840; longitude = -122.045255; captureRadius = 10; duration = 400; depth = 82.527274; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 64.143241; 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 = 64.143241; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } #######################################################