# 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: CoreSBP.rte # Mission File: CoreSBP.cfg # Distance: 4265.469701 (m) # Estimated Time: 7302 (s) # Abort Time: 8763 (s) # Way Points: 3 # Route Points: 23 # # Mission Parameters: # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 350 (m) # Abort Vehicle Depth: 370 (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 -121.880952 36.812496 -78.415915 0.000000 1 # 1 -121.887449 36.783595 -235.706295 3258.342011 1 # 2 -121.877293 36.779637 -109.039825 4265.469701 1 # # A total of 23 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 4265.469701 #define MISSION_TIME 7302 #define MISSION_TIMEOUT 8763 #define DEPTH_MAX 350.000000 #define DEPTH_ABORT 370.000000 #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 2 # Segment length 148.113443 meters # Minimum depth: 109.039825 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 91.039825 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.779637; longitude = -121.877293; captureRadius = 10; duration = 118; depth = 91.039825; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 2 # Segment length 222.168377 meters # Minimum depth: 109.039825 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 91.039825 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.780219; longitude = -121.878786; captureRadius = 10; duration = 177; depth = 91.039825; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 218.791966 meters # Minimum depth: 114.164646 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 96.164646 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.781092; longitude = -121.881027; captureRadius = 10; duration = 175; depth = 96.164646; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 203.322043 meters # Minimum depth: 122.021981 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 104.021981 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.781952; longitude = -121.883233; captureRadius = 10; duration = 162; depth = 104.021981; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 214.731861 meters # Minimum depth: 141.854206 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 123.854206 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.782751; longitude = -121.885284; captureRadius = 10; duration = 171; depth = 123.854206; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to end of line 1 # Segment length 16.834457 meters # Minimum depth: 145.482610 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 127.482610 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.783595; longitude = -121.887449; captureRadius = 10; duration = 13; depth = 127.482610; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 1 # Segment length 202.070258 meters # Minimum depth: 193.583565 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 175.583565 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.783744; longitude = -121.887415; captureRadius = 10; duration = 161; depth = 175.583565; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.070185 meters # Minimum depth: 235.790035 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 217.790035 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.785537; longitude = -121.887013; captureRadius = 10; duration = 161; depth = 217.790035; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.070112 meters # Minimum depth: 294.986476 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 276.986476 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.787329; longitude = -121.886610; captureRadius = 10; duration = 161; depth = 276.986476; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.070039 meters # Minimum depth: 326.216358 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 308.216358 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.789121; longitude = -121.886207; captureRadius = 10; duration = 161; depth = 308.216358; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069965 meters # Minimum depth: 381.520149 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.790914; longitude = -121.885804; captureRadius = 10; duration = 161; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069893 meters # Minimum depth: 374.990516 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.792706; longitude = -121.885401; captureRadius = 10; duration = 161; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069819 meters # Minimum depth: 374.990516 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.794498; longitude = -121.884998; captureRadius = 10; duration = 161; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069745 meters # Minimum depth: 384.803848 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.796291; longitude = -121.884595; captureRadius = 10; duration = 161; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069673 meters # Minimum depth: 321.212799 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 303.212799 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.798083; longitude = -121.884192; captureRadius = 10; duration = 161; depth = 303.212799; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069599 meters # Minimum depth: 266.039443 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 248.039443 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.799875; longitude = -121.883789; captureRadius = 10; duration = 161; depth = 248.039443; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069526 meters # Minimum depth: 201.008295 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 183.008295 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.801668; longitude = -121.883386; captureRadius = 10; duration = 161; depth = 183.008295; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069453 meters # Minimum depth: 131.969536 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 113.969536 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.803460; longitude = -121.882983; captureRadius = 10; duration = 161; depth = 113.969536; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069379 meters # Minimum depth: 91.049936 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 73.049936 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.805252; longitude = -121.882580; captureRadius = 10; duration = 161; depth = 73.049936; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069306 meters # Minimum depth: 83.775001 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 65.775001 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.807045; longitude = -121.882177; captureRadius = 10; duration = 161; depth = 65.775001; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.069233 meters # Minimum depth: 80.779432 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 62.779432 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.808837; longitude = -121.881775; captureRadius = 10; duration = 161; depth = 62.779432; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 210.461369 meters # Minimum depth: 78.535859 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.535859 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.810629; longitude = -121.881372; captureRadius = 10; duration = 168; depth = 60.535859; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 78.415915 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.415915 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.812496; longitude = -121.880952; captureRadius = 10; duration = 400; depth = 60.415915; 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; } #######################################################