# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission version: # $Id r # # Mission Summary: # Route File: PortDavid3V2.rte # Mission File: PortTrapezoid_1v1.cfg # Distance: 1602 (m) 1.602 (km) # Estimated Time: 3728 (s) 1.036 (hr) # Abort Time: 5592 (s) 1.553 (hr) # Max battery life: 79200 (s) 22.000 (hr) # Safety margin: 900 (s) 0.250 (hr) # Time to first waypoint: 2000 (s) 0.556 (hr) # Descend time: 347 (s) 0.096 (hr) # Ascend time: 300 (s) 0.083 (hr) # Way Points: 5 # Route Points: 5 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointBottom # Behavior for waypoint mode 4: WaypointBottom # Descent style: Spiral descent without StartSurvey behavior # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 34 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.4 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 15 (m) # Abort Vehicle Altitude 1: 10 (m) # Delta Depth Restart 1: 5 (m) # Desired Vehicle Altitude 1: 30 (m) # Desired Vehicle Altitude 2: 30 (m) # Desired Vehicle Altitude 3: 30 (m) # Constant Vehicle Depth 1: 15 (m) # Constant Vehicle Depth 2: 60 (m) # Maximum Vehicle Depth: 70.0 (m) # Abort Vehicle Depth: 90 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 46.54018 m # Spiral descent altitude: 40 m # Waypoint Spacing: 5000 (m) # Maximum climb rate: 15 (degrees) # Time to first waypoint: 2000 (s) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.945900 36.695501 -96.540180 0.000000 9 # 1 -121.944463 36.695828 -93.077375 133.407549 1 # 2 -121.939169 36.695783 -83.904936 606.395061 11 # 3 -121.937045 36.695114 -97.395262 810.150411 1 # 4 -121.945911 36.695195 -95.489302 1602.288528 12 # # A total of 5 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 5592; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 70.000000; abortDepth = 71.000000; minAltitude = 15.000000; abortAltitude = 10.000000; deltaDepthRestart = 5.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_bottom behavior to get to end of line 4 # Segment length 792.138117 meters # Minimum depth: 95.489302 meters looking forward 0.000000 meters along route # Maximum depth: 95.489302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 60.000000 meters # Minimum vehicle altitude: 15.000000 meters # Behavior depth of 60.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695195; longitude = -121.945911; lastLatitude = 36.695114; lastLongitude = -121.937045; duration = 3168; depth = 60.000000; speed = 1.500000; # abortOnTimeout = True; # avoidRange = 60.0; # tau = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 35.489302 # Actual altitude: 35.489302 # Commanded vehicle depth: 60 # Seafloor depth: -95.489302 # behavior reson { duration = 6; MB_Range = 177.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 3 # Segment length 203.755350 meters # Minimum depth: 97.395262 meters looking forward 0.000000 meters along route # Maximum depth: 97.395262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 60.000000 meters # Minimum vehicle altitude: 15.000000 meters # Behavior depth of 60.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695114; longitude = -121.937045; lastLatitude = 36.695783; lastLongitude = -121.939169; duration = 815; depth = 60.000000; speed = 1.500000; # abortOnTimeout = True; # avoidRange = 60.0; # tau = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 37.395262 # Actual altitude: 37.395262 # Commanded vehicle depth: 60 # Seafloor depth: -97.395262 # behavior reson { duration = 6; MB_Range = 186.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 2 # Segment length 472.987512 meters # Minimum depth: 83.904936 meters looking forward 0.000000 meters along route # Maximum depth: 83.904936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 60.000000 meters # Minimum vehicle altitude: 15.000000 meters # Behavior depth of 60.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695783; longitude = -121.939169; lastLatitude = 36.695828; lastLongitude = -121.944463; duration = 1891; depth = 60.000000; speed = 1.500000; # abortOnTimeout = True; # avoidRange = 60.0; # tau = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 37.395262 # Actual altitude: 37.395262 # Commanded vehicle depth: 60 # Seafloor depth: -83.904936 # behavior reson { duration = 6; MB_Range = 186.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 1 # Segment length 133.407549 meters # Minimum depth: 93.077375 meters looking forward 0.000000 meters along route # Maximum depth: 93.077375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 15.000000 meters # Minimum vehicle altitude: 15.000000 meters # Behavior depth of 15.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695828; longitude = -121.944463; lastLatitude = 36.695501; lastLongitude = -121.945900; duration = 533; depth = 60.000000; speed = 1.500000; reinitFilter = True; # abortOnTimeout = True; # avoidRange = 60.0; # tau = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 78.077375 # Actual altitude: 78.077375 # Commanded vehicle depth: 15 # Seafloor depth: -93.077375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 9 # Commanded altitude: 81.54018 # Sonar parameter altitude: 81.54018 # Commanded vehicle depth: 15 # Seafloor depth: -96.540180 # behavior reson { duration = 6; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 133.407549 meters # Minimum depth: 96.540180 meters looking forward 0.000000 meters along route # Maximum depth: 96.540180 meters looking forward 0.000000 meters along route # Vehicle depth: 15.000000 meters behavior waypoint { latitude = 36.695501; longitude = -121.945900; duration = 2000; depth = 60.000000; speed = 1.500000; } # # # Acoustic update 4 - sent status ping at end of spiral descent # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 15.000000 meters set by local depth and desired altitude behavior descend { duration = 347; horizontalMode = rudder; horizontal = 2.000000; pitch = -45.000000; speed = 1.500000; maxDepth = 46.540180; minAltitude = 40.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 133.407549 meters # Minimum depth: 96.540180 meters looking forward 0.000000 meters along route # Maximum depth: 96.540180 meters looking forward 0.000000 meters along route # Vehicle depth: 15.000000 meters behavior waypoint { latitude = 36.695501; longitude = -121.945900; duration = 2000; depth = 15.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 65.0; pitch = -45.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 15.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 65.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; MB_Power = 0; MB_Range = 150.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 12.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################