# 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: WaypointDepthTest.rte # Mission File: WaypointDepthTest.cfg # Distance: 1027.360876 (m) # Estimated Time: 2710 (s) 0.753 (hr) # Abort Time: 3252 (s) # Way Points: 2 # Route Points: 6 # # Mission Parameters: # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 75 (m) # Abort Vehicle Depth: 85 (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 -122.050775 36.803087 -102.160838 0.000000 1 # 1 -122.050700 36.812347 -96.250783 1027.360876 1 # # A total of 6 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 1027.360876 #define MISSION_TIME 2710 #define MISSION_TIMEOUT 3252 #define DEPTH_MAX 75.000000 #define DEPTH_ABORT 85.000000 #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 190.558992 meters # Minimum depth: 96.148227 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 75.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.812347; longitude = -122.050700; captureRadius = 10; duration = 152; initialDepth = 20.000000; finalDepth = 20.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior during line 1 # Segment length 211.271863 meters # Minimum depth: 96.148227 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 75.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810629; longitude = -122.050714; captureRadius = 10; duration = 169; initialDepth = 70.000000; finalDepth = 20.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 211.271795 meters # Minimum depth: 96.452412 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 75.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808725; longitude = -122.050730; captureRadius = 10; duration = 169; initialDepth = 70.000000; finalDepth = 70.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 211.271727 meters # Minimum depth: 97.331458 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 75.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806821; longitude = -122.050745; captureRadius = 10; duration = 169; initialDepth = 40.000000; finalDepth = 70.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 202.986499 meters # Minimum depth: 97.331458 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 75.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.804916; longitude = -122.050760; captureRadius = 10; duration = 162; initialDepth = 20.000000; finalDepth = 40.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 97.331458 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 75.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 75.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.803087; longitude = -122.050775; captureRadius = 10; duration = 400; initialDepth = 20.000000; finalDepth = 20.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 359.802777; 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 = 359.802777; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } #######################################################