# 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: RobTest.rte # Mission File: RobTest.cfg # Distance: 1356.957537 (m) # Estimated Time: 3532 (s) 0.981 (hr) # Abort Time: 4238 (s) # Way Points: 2 # Route Points: 5 # # Mission Parameters: # Desired Vehicle Altitude: 30 (m) # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 200 (m) # Abort Vehicle Depth: 225 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 400 (m) # Time to First Waypoint: 500 (s) # 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 -121.840866 36.792485 -273.928019 0.000000 1 # 1 -121.854408 36.798050 -323.862183 1356.957537 1 # # A total of 5 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 1356.957537 #define MISSION_TIME 3532 #define MISSION_TIMEOUT 4238 #define DEPTH_MAX 200.000000 #define DEPTH_ABORT 225.000000 #define ALTITUDE_DESIRED 30.000000 #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 1 # Segment length 153.472476 meters # Minimum depth: 313.852729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798050; longitude = -121.854408; duration = 122; initialDepth = 20.; finalDepth = 20.; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 402.050592 meters # Minimum depth: 294.110899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797421; longitude = -121.852877; captureRadius = 10; duration = 321; initialDepth = 150.; finalDepth = 20.; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # Waypoint_depth behavior during line 1 # Segment length 400.889533 meters # Minimum depth: 287.877376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795772; longitude = -121.848864; duration = 320; initialDepth = 20.; finalDepth = 150.; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # Waypoint_depth behavior during line 1 # Segment length 400.544936 meters # Minimum depth: 273.981191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794128; longitude = -121.844863; duration = 20; initialDepth = 20.; finalDepth = 150.0; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior to get to start of line 1 # Segment length 750.000000 meters # Minimum depth: 273.928019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 200.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792485; longitude = -121.840866; duration = 600; initialDepth = 20.; finalDepth = 20.; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 296.372708; 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 = 296.372708; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } #######################################################