# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Wed Mar 30 09:16:01 PST 2005>
# 
# Mission Summary:
#     Route File:               Box500m.rte
#     Mission File:             Box500m.cfg
#     Distance:                 1995.743668 (m)
#     Estimated Time:           5846 (s)
#     Abort Time:               7015 (s)
#     Way Points:               5
#     Route Points:             33
# 
# Mission Parameters:
#     Minimum Vehicle Altitude: 18 (m)
#     Abort Vehicle Altitude:   10 (m)
#     Maximum Vehicle Depth:    60 (m)
#     Abort Vehicle Depth:      70 (m)
#     Descent Vehicle Depth:    3 (m)
#     Forward Looking Distance: 100 (m)
#     Waypoint Spacing:         50 (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:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.859668 36.776650 -72.735026 0.000000 1
#   1 -121.865195 36.776724 -81.695099 493.278789 1
#   2 -121.865269 36.772169 -78.734731 998.723761 1
#   3 -121.859668 36.772169 -70.192220 1498.627292 1
#   4 -121.859668 36.776650 -72.735026 1995.743668 1
# 
# A total of 33 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED     1.000000
#define MISSION_DISTANCE  1995.743668
#define MISSION_TIME      5846
#define MISSION_TIMEOUT   7015
#define DEPTH_MAX         60.000000
#define DEPTH_ABORT       70.000000
#define ALTITUDE_MIN      18.000000
#define ALTITUDE_ABORT    10.000000
#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 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 4
#   Segment length 57.996929 meters
#   Minimum depth: 72.663312 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 54.663312 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776650; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 69; 
depth        = 54.663312; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 4
#   Segment length 74.567474 meters
#   Minimum depth: 72.601944 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 54.601944 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776127; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 89; 
depth        = 54.601944; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 74.567465 meters
#   Minimum depth: 72.351954 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 54.351954 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.775455; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 89; 
depth        = 54.351954; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 74.567457 meters
#   Minimum depth: 72.146461 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 54.146461 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.774783; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 89; 
depth        = 54.146461; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 74.567448 meters
#   Minimum depth: 71.563304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 53.563304 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.774111; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 89; 
depth        = 53.563304; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 74.567441 meters
#   Minimum depth: 71.191111 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 53.191111 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.773438; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 89; 
depth        = 53.191111; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 4
#   Segment length 66.282162 meters
#   Minimum depth: 70.451480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 52.451480 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772766; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 79; 
depth        = 52.451480; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 3
#   Segment length 26.661537 meters
#   Minimum depth: 70.192220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 52.192220 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 31; 
depth        = 52.192220; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 3
#   Segment length 59.988453 meters
#   Minimum depth: 70.192220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 52.192220 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.859967; 
captureRadius = 10; 
duration     = 71; 
depth        = 52.192220; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 59.988444 meters
#   Minimum depth: 71.200595 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 53.200595 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.860639; 
captureRadius = 10; 
duration     = 71; 
depth        = 53.200595; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 59.988434 meters
#   Minimum depth: 72.405955 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 54.405955 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.861311; 
captureRadius = 10; 
duration     = 71; 
depth        = 54.405955; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 59.988426 meters
#   Minimum depth: 73.254191 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 55.254191 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.861983; 
captureRadius = 10; 
duration     = 71; 
depth        = 55.254191; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 59.988417 meters
#   Minimum depth: 74.308947 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 56.308947 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.862655; 
captureRadius = 10; 
duration     = 71; 
depth        = 56.308947; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 59.988407 meters
#   Minimum depth: 75.526258 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 57.526258 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.863328; 
captureRadius = 10; 
duration     = 71; 
depth        = 57.526258; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 59.988399 meters
#   Minimum depth: 76.205828 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 58.205828 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.864000; 
captureRadius = 10; 
duration     = 71; 
depth        = 58.205828; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 53.323014 meters
#   Minimum depth: 77.384684 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.384684 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.864672; 
captureRadius = 10; 
duration     = 63; 
depth        = 59.384684; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 2
#   Segment length 66.287843 meters
#   Minimum depth: 78.268911 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.772169; 
longitude    = -121.865269; 
captureRadius = 10; 
duration     = 79; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 2
#   Segment length 74.573832 meters
#   Minimum depth: 79.121384 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.772766; 
longitude    = -121.865259; 
captureRadius = 10; 
duration     = 89; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 74.573840 meters
#   Minimum depth: 79.326145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.773438; 
longitude    = -121.865248; 
captureRadius = 10; 
duration     = 89; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 74.573848 meters
#   Minimum depth: 79.819154 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.774111; 
longitude    = -121.865237; 
captureRadius = 10; 
duration     = 89; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 74.573857 meters
#   Minimum depth: 80.106124 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.774783; 
longitude    = -121.865226; 
captureRadius = 10; 
duration     = 89; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 74.573865 meters
#   Minimum depth: 80.491689 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.775455; 
longitude    = -121.865215; 
captureRadius = 10; 
duration     = 89; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 66.287887 meters
#   Minimum depth: 81.061604 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.776127; 
longitude    = -121.865204; 
captureRadius = 10; 
duration     = 79; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 1
#   Segment length 6.665923 meters
#   Minimum depth: 81.061604 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.776724; 
longitude    = -121.865195; 
captureRadius = 10; 
duration     = 7; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 1
#   Segment length 59.993309 meters
#   Minimum depth: 80.585046 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.776723; 
longitude    = -121.865120; 
captureRadius = 10; 
duration     = 71; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 59.993326 meters
#   Minimum depth: 79.433895 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.776714; 
longitude    = -121.864448; 
captureRadius = 10; 
duration     = 71; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 59.993343 meters
#   Minimum depth: 78.203748 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 60.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.776705; 
longitude    = -121.863776; 
captureRadius = 10; 
duration     = 71; 
depth        = 60.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 59.993358 meters
#   Minimum depth: 76.952529 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 58.952529 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776696; 
longitude    = -121.863103; 
captureRadius = 10; 
duration     = 71; 
depth        = 58.952529; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 59.993374 meters
#   Minimum depth: 75.900556 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 57.900556 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776687; 
longitude    = -121.862431; 
captureRadius = 10; 
duration     = 71; 
depth        = 57.900556; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 59.993390 meters
#   Minimum depth: 74.787900 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 56.787900 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776678; 
longitude    = -121.861759; 
captureRadius = 10; 
duration     = 71; 
depth        = 56.787900; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 59.993407 meters
#   Minimum depth: 74.068109 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 56.068109 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776669; 
longitude    = -121.861087; 
captureRadius = 10; 
duration     = 71; 
depth        = 56.068109; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 66.659359 meters
#   Minimum depth: 72.806154 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 54.806154 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776660; 
longitude    = -121.860415; 
captureRadius = 10; 
duration     = 79; 
depth        = 54.806154; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 500.000000 meters
#   Minimum depth: 72.735026 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 54.735026 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.776650; 
longitude    = -121.859668; 
captureRadius = 10; 
duration     = 600; 
depth        = 54.735026; 
speed        = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 45.000000; 
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      = 45.000000; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = False; 
} 
#######################################################