# 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: CoreLinesW.rte # Mission File: CoreLinesW.cfg # Distance: 7212.442901 (m) # Estimated Time: 6826 (s) 1.896 (hr) # Abort Time: 8191 (s) # Way Points: 4 # Route Points: 38 # # Mission Parameters: # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 130 (m) # Abort Vehicle Depth: 150 (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 -121.867062 36.809584 -77.806171 0.000000 1 # 1 -121.891183 36.788599 -387.601624 3170.447797 1 # 2 -121.918516 36.790615 -423.550819 5619.635542 1 # 3 -121.919412 36.804954 -92.385073 7212.442901 1 # # A total of 38 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 7212.442901 #define MISSION_TIME 6826 #define MISSION_TIMEOUT 8191 #define DEPTH_MAX 130.000000 #define DEPTH_ABORT 150.000000 #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 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_depth behavior to get to end of line 3 # Segment length 41.530508 meters # Minimum depth: 92.385073 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 74.385073 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.804954; longitude = -121.919412; captureRadius = 10; duration = 33; initialDepth = 74.385073; finalDepth = 74.385073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior during line 3 # Segment length 223.982780 meters # Minimum depth: 92.385073 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 74.385073 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.804580; longitude = -121.919389; captureRadius = 10; duration = 179; initialDepth = 74.385073; finalDepth = 74.385073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 3 # Segment length 223.982727 meters # Minimum depth: 93.179571 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.179571 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.802564; longitude = -121.919263; captureRadius = 10; duration = 179; initialDepth = 75.179571; finalDepth = 74.385073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 3 # Segment length 223.982674 meters # Minimum depth: 101.213279 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 83.213279 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.800547; longitude = -121.919137; captureRadius = 10; duration = 179; initialDepth = 83.213279; finalDepth = 75.179571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 3 # Segment length 223.982619 meters # Minimum depth: 179.900348 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798531; longitude = -121.919011; captureRadius = 10; duration = 179; initialDepth = 130.000000; finalDepth = 83.213279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 3 # Segment length 223.982565 meters # Minimum depth: 240.242511 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796515; longitude = -121.918885; captureRadius = 10; duration = 179; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 3 # Segment length 223.982512 meters # Minimum depth: 303.231187 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794498; longitude = -121.918759; captureRadius = 10; duration = 179; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 3 # Segment length 207.380974 meters # Minimum depth: 368.744598 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792482; longitude = -121.918633; captureRadius = 10; duration = 165; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior to get to end of line 2 # Segment length 26.742894 meters # Minimum depth: 375.758996 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.790615; longitude = -121.918516; captureRadius = 10; duration = 21; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior during line 2 # Segment length 200.750213 meters # Minimum depth: 408.305086 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.790593; longitude = -121.918218; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.750737 meters # Minimum depth: 406.648928 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.790428; longitude = -121.915977; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.751259 meters # Minimum depth: 395.470123 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.790262; longitude = -121.913737; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.751784 meters # Minimum depth: 395.470123 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.790097; longitude = -121.911496; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.752307 meters # Minimum depth: 396.350653 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.789932; longitude = -121.909256; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.752832 meters # Minimum depth: 408.782950 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.789767; longitude = -121.907015; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.753355 meters # Minimum depth: 469.830424 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.789602; longitude = -121.904775; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.753880 meters # Minimum depth: 437.104680 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.789436; longitude = -121.902535; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.754405 meters # Minimum depth: 398.687417 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.789271; longitude = -121.900294; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.754929 meters # Minimum depth: 388.692888 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.789106; longitude = -121.898054; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 200.755455 meters # Minimum depth: 385.014720 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.788941; longitude = -121.895813; captureRadius = 10; duration = 160; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 2 # Segment length 214.163695 meters # Minimum depth: 384.954398 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.788775; longitude = -121.893573; captureRadius = 10; duration = 171; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior to get to end of line 1 # Segment length 112.765122 meters # Minimum depth: 384.954398 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.788599; longitude = -121.891183; captureRadius = 10; duration = 90; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior during line 1 # Segment length 203.101243 meters # Minimum depth: 385.259674 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.789345; longitude = -121.890325; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.099701 meters # Minimum depth: 381.278835 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.790690; longitude = -121.888780; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.098159 meters # Minimum depth: 380.507989 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792034; longitude = -121.887235; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.096616 meters # Minimum depth: 374.614844 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793378; longitude = -121.885690; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.679113 meters # Minimum depth: 374.614844 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794722; longitude = -121.884145; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 202.509491 meters # Minimum depth: 372.388214 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796070; longitude = -121.882595; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.091988 meters # Minimum depth: 336.397871 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797411; longitude = -121.881054; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.090446 meters # Minimum depth: 277.339429 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798755; longitude = -121.879509; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.088904 meters # Minimum depth: 246.397348 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.800099; longitude = -121.877964; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.087362 meters # Minimum depth: 224.913514 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.801444; longitude = -121.876419; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.085819 meters # Minimum depth: 202.916927 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.802788; longitude = -121.874874; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.084277 meters # Minimum depth: 168.334031 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 130.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.804132; longitude = -121.873329; captureRadius = 10; duration = 162; initialDepth = 130.000000; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.082735 meters # Minimum depth: 115.391274 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 97.391274 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.805476; longitude = -121.871784; captureRadius = 10; duration = 162; initialDepth = 97.391274; finalDepth = 130.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 203.081192 meters # Minimum depth: 81.287272 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 63.287272 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.806821; longitude = -121.870238; captureRadius = 10; duration = 162; initialDepth = 63.287272; finalDepth = 97.391274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 214.405629 meters # Minimum depth: 77.778045 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 59.778045 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.808165; longitude = -121.868693; captureRadius = 10; duration = 171; initialDepth = 59.778045; finalDepth = 63.287272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 77.778045 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 59.778045 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.809584; longitude = -121.867062; captureRadius = 10; duration = 400; initialDepth = 59.778045; finalDepth = 59.778045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 222.078231; 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 = 222.078231; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } #######################################################