# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Mon Aug 15 10:13:45 PDT 2005>
# 
# Mission Summary:
#     Route File:               Test1.rte
#     Mission File:             Test1.cfg
#     Distance:                 6433.860108 (m)
#     Estimated Time:           6234 (s)  1.732 (hr)
#     Abort Time:               7481 (s)
#     Way Points:               2
#     Route Points:             32
# 
# Mission Parameters:
#     Minimum Vehicle Altitude: 18 (m)
#     Abort Vehicle Altitude:   10 (m)
#     Maximum Vehicle Depth:    150 (m)
#     Abort Vehicle Depth:      170 (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:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.860564 36.778778 -75.499441 0.000000 1
#   1 -121.854739 36.836581 -55.923045 6433.860108 1
# 
# A total of 32 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED      1.500000
#define MISSION_DISTANCE   6433.860108
#define MISSION_TIME       6234
#define MISSION_TIMEOUT    7481
#define DEPTH_MAX          150.000000
#define DEPTH_ABORT        170.000000
#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 behavior to get to end of line 1
#   Segment length 120.531319 meters
#   Minimum depth: 55.923045 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 37.923045 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.836581; 
longitude    = -121.854739; 
captureRadius = 10; 
duration     = 96; 
depth        = 37.923045; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 1
#   Segment length 211.968840 meters
#   Minimum depth: 55.923045 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 37.923045 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.835498; 
longitude    = -121.854848; 
captureRadius = 10; 
duration     = 169; 
depth        = 37.923045; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968798 meters
#   Minimum depth: 60.169869 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 42.169869 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.833593; 
longitude    = -121.855040; 
captureRadius = 10; 
duration     = 169; 
depth        = 42.169869; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968757 meters
#   Minimum depth: 66.902783 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 48.902783 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.831689; 
longitude    = -121.855232; 
captureRadius = 10; 
duration     = 169; 
depth        = 48.902783; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968716 meters
#   Minimum depth: 74.560547 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 56.560547 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.829785; 
longitude    = -121.855424; 
captureRadius = 10; 
duration     = 169; 
depth        = 56.560547; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968675 meters
#   Minimum depth: 83.417598 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 65.417598 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.827880; 
longitude    = -121.855616; 
captureRadius = 10; 
duration     = 169; 
depth        = 65.417598; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968634 meters
#   Minimum depth: 94.021205 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 76.021205 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.825976; 
longitude    = -121.855808; 
captureRadius = 10; 
duration     = 169; 
depth        = 76.021205; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968592 meters
#   Minimum depth: 111.001795 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 93.001795 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.824072; 
longitude    = -121.856000; 
captureRadius = 10; 
duration     = 169; 
depth        = 93.001795; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968552 meters
#   Minimum depth: 128.901697 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 110.901697 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.822167; 
longitude    = -121.856192; 
captureRadius = 10; 
duration     = 169; 
depth        = 110.901697; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968510 meters
#   Minimum depth: 136.474354 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 118.474354 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.820263; 
longitude    = -121.856384; 
captureRadius = 10; 
duration     = 169; 
depth        = 118.474354; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968470 meters
#   Minimum depth: 139.789331 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 121.789331 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.818359; 
longitude    = -121.856576; 
captureRadius = 10; 
duration     = 169; 
depth        = 121.789331; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968428 meters
#   Minimum depth: 144.967937 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 126.967937 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.816454; 
longitude    = -121.856768; 
captureRadius = 10; 
duration     = 169; 
depth        = 126.967937; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968387 meters
#   Minimum depth: 151.108926 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 133.108926 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.814550; 
longitude    = -121.856959; 
captureRadius = 10; 
duration     = 169; 
depth        = 133.108926; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968346 meters
#   Minimum depth: 159.345467 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 141.345467 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.812646; 
longitude    = -121.857151; 
captureRadius = 10; 
duration     = 169; 
depth        = 141.345467; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968305 meters
#   Minimum depth: 165.155033 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 147.155033 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.810741; 
longitude    = -121.857343; 
captureRadius = 10; 
duration     = 169; 
depth        = 147.155033; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.328842 meters
#   Minimum depth: 183.228293 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.808837; 
longitude    = -121.857535; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 200.138926 meters
#   Minimum depth: 216.468890 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.806938; 
longitude    = -121.857726; 
captureRadius = 10; 
duration     = 160; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968184 meters
#   Minimum depth: 234.299227 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.805140; 
longitude    = -121.857908; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968143 meters
#   Minimum depth: 267.514727 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.803236; 
longitude    = -121.858100; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968102 meters
#   Minimum depth: 305.585412 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.801332; 
longitude    = -121.858292; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968060 meters
#   Minimum depth: 296.438025 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.799427; 
longitude    = -121.858483; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.968020 meters
#   Minimum depth: 270.713263 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.797523; 
longitude    = -121.858675; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.967978 meters
#   Minimum depth: 246.335922 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.795618; 
longitude    = -121.858867; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.967938 meters
#   Minimum depth: 246.335922 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.793714; 
longitude    = -121.859059; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.967896 meters
#   Minimum depth: 234.566757 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.791810; 
longitude    = -121.859251; 
captureRadius = 10; 
duration     = 169; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 207.491913 meters
#   Minimum depth: 215.255638 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789905; 
longitude    = -121.859443; 
captureRadius = 10; 
duration     = 165; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 203.975062 meters
#   Minimum depth: 204.062140 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788041; 
longitude    = -121.859631; 
captureRadius = 10; 
duration     = 163; 
depth        = 150.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 211.967776 meters
#   Minimum depth: 141.976258 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 123.976258 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.786209; 
longitude    = -121.859816; 
captureRadius = 10; 
duration     = 169; 
depth        = 123.976258; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 202.696145 meters
#   Minimum depth: 94.365977 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 76.365977 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.784304; 
longitude    = -121.860007; 
captureRadius = 10; 
duration     = 162; 
depth        = 76.365977; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 208.770596 meters
#   Minimum depth: 77.492511 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.492511 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.782483; 
longitude    = -121.860191; 
captureRadius = 10; 
duration     = 167; 
depth        = 59.492511; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 203.655198 meters
#   Minimum depth: 75.561051 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 57.561051 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.780608; 
longitude    = -121.860380; 
captureRadius = 10; 
duration     = 162; 
depth        = 57.561051; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 500.000000 meters
#   Minimum depth: 75.499441 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 150.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 57.499441 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.778778; 
longitude    = -121.860564; 
captureRadius = 10; 
duration     = 1100; 
depth        = 57.499441; 
speed        = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 3.948328; 
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      = 3.948328; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = False; 
} 
#######################################################