# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Tue Aug 16 14:28:55 PDT 2005>
# 
# Mission Summary:
#     Route File:               Test2.rte
#     Mission File:             Test2.cfg
#     Distance:                 10409.504128 (m)
#     Estimated Time:           8971 (s)  2.492 (hr)
#     Abort Time:               10766 (s)
#     Way Points:               2
#     Route Points:             2
# 
# Mission Parameters:
#     Minimum Vehicle Altitude: 10 (m)
#     Abort Vehicle Altitude:   6 (m)
#     Maximum Vehicle Depth:    90 (m)
#     Abort Vehicle Depth:      95 (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 -122.031844 36.812160 -95.498006 12303.262066 1
#   1 -122.012576 36.819329 -99.407328 10409.504128 1
# 
# A total of 2 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED      1.500000
#define MISSION_DISTANCE   10409.504128
#define MISSION_TIME       8971
#define MISSION_TIMEOUT    10766
#define DEPTH_MAX          90.000000
#define DEPTH_ABORT        95.000000
#define ALTITUDE_MIN       10.000000
#define ALTITUDE_ABORT     6.000000
#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 -1893.757938 meters
#   Minimum depth: 99.407328 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 90.000000 meters
#   Minimum vehicle altitude: 10.000000 meters
#   Behavior depth of 89.407328 meters set by local depth and minimum altitude
behavior waypoint_depth  
{ 
latitude          = 36.819329; 
longitude         = -122.012576; 
captureRadius      = 10; 
duration          = -1515; 
initialDepth      = 89.407328; 
finalDepth        = 89.407328; 
maxCrossTrackError = MAXCROSSTRACKERROR; 
speed              = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# Waypoint_depth behavior to get to start of line 1
#   Segment length 500.000000 meters
#   Minimum depth: 95.498006 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 90.000000 meters
#   Minimum vehicle altitude: 10.000000 meters
#   Behavior depth of 85.498006 meters set by local depth and minimum altitude
behavior waypoint_depth  
{ 
latitude          = 36.812160; 
longitude         = -122.031844; 
captureRadius      = 10; 
duration          = 600; 
initialDepth      = 85.498006; 
finalDepth        = 89.407328; 
maxCrossTrackError = MAXCROSSTRACKERROR; 
speed              = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 153.801444; 
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      = 153.801444; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = False; 
} 
#######################################################