# 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: AdamCross_1v3.rte # Mission File: AdamCross_1v3.cfg # Distance: 2763 (m) 2.763 (km) # Estimated Time: 4502 (s) 1.251 (hr) # Abort Time: 6753 (s) 1.876 (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: 349 (s) 0.097 (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: 20 (m) # Abort Vehicle Altitude 1: 15 (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: 80 (m) # Abort Vehicle Depth: 90 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 47.236639 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 -121.946256 36.696122 -97.236639 0.000000 11 # 1 -121.935873 36.696525 -97.707695 928.636606 11 # 2 -121.939001 36.692136 -95.842861 1490.045370 11 # 3 -121.941136 36.698585 -85.126871 2230.526938 11 # 4 -121.946256 36.696122 -97.236639 2763.337704 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 = 6753; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 80.000000; abortDepth = 90.000000; minAltitude = 20.000000; abortAltitude = 15.000000; 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 532.810766 meters # Minimum depth: 97.236639 meters looking forward 0.000000 meters along route # Maximum depth: 97.236639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 80.000000 meters # Constant vehicle depth: 60.000000 meters # Minimum vehicle altitude: 20.000000 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 = 36.696122; longitude = -121.946256; lastLatitude = 36.698585; lastLongitude = -121.941136; duration = 2131; depth = 60.000000; speed = 1.500000; reinitFilter = True; # abortOnTimeout = True; # avoidRange = 60.0; # tau = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 37.236639 # Actual altitude: 37.236639 # Commanded vehicle depth: 60 # Seafloor depth: -97.236639 # behavior reson { duration = 6; MB_Range = 186.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 14.89; MB_Bottom_Detect_Filter_Max_Range = 186.18; 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 3 # Segment length 740.481568 meters # Minimum depth: 85.126871 meters looking forward 0.000000 meters along route # Maximum depth: 85.126871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 80.000000 meters # Constant vehicle depth: 60.000000 meters # Minimum vehicle altitude: 20.000000 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 = 36.698585; longitude = -121.941136; lastLatitude = 36.692136; lastLongitude = -121.939001; duration = 2961; depth = 60.000000; speed = 1.500000; reinitFilter = True; # abortOnTimeout = True; # avoidRange = 60.0; # tau = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 37.236639 # Actual altitude: 37.236639 # Commanded vehicle depth: 60 # Seafloor depth: -85.126871 # behavior reson { duration = 6; MB_Range = 186.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 14.89; MB_Bottom_Detect_Filter_Max_Range = 186.18; 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 561.408764 meters # Minimum depth: 95.842861 meters looking forward 0.000000 meters along route # Maximum depth: 95.842861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 80.000000 meters # Constant vehicle depth: 60.000000 meters # Minimum vehicle altitude: 20.000000 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 = 36.692136; longitude = -121.939001; lastLatitude = 36.696525; lastLongitude = -121.935873; duration = 2245; depth = 60.000000; speed = 1.500000; reinitFilter = True; # abortOnTimeout = True; # avoidRange = 60.0; # tau = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 35.842861 # Actual altitude: 35.842861 # Commanded vehicle depth: 60 # Seafloor depth: -95.842861 # behavior reson { duration = 6; MB_Range = 179.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 14.34; MB_Bottom_Detect_Filter_Max_Range = 179.21; 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 1 # Segment length 928.636606 meters # Minimum depth: 97.707695 meters looking forward 0.000000 meters along route # Maximum depth: 97.707695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 80.000000 meters # Constant vehicle depth: 60.000000 meters # Minimum vehicle altitude: 20.000000 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 = 36.696525; longitude = -121.935873; lastLatitude = 36.696122; lastLongitude = -121.946256; duration = 3714; depth = 60.000000; speed = 1.500000; reinitFilter = True; # abortOnTimeout = True; # avoidRange = 60.0; # tau = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 37.707695 # Actual altitude: 37.707695 # Commanded vehicle depth: 60 # Seafloor depth: -97.707695 # behavior reson { duration = 6; MB_Range = 188.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 188.54; 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: 11 # Commanded altitude: 37.707695 # Sonar parameter altitude: 37.707695 # Commanded vehicle depth: 60 # Seafloor depth: -97.236639 # behavior reson { duration = 6; MB_Power = 218; MB_Range = 188.54; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 188.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.54; 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 928.636606 meters # Minimum depth: 97.236639 meters looking forward 0.000000 meters along route # Maximum depth: 97.236639 meters looking forward 0.000000 meters along route # Vehicle depth: 60.000000 meters behavior waypoint { latitude = 36.696122; longitude = -121.946256; 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 60.000000 meters set by local depth and desired altitude behavior descend { duration = 349; horizontalMode = rudder; horizontal = 2.000000; pitch = -45.000000; speed = 1.500000; maxDepth = 47.236639; 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 928.636606 meters # Minimum depth: 97.236639 meters looking forward 0.000000 meters along route # Maximum depth: 97.236639 meters looking forward 0.000000 meters along route # Vehicle depth: 15.000000 meters behavior waypoint { latitude = 36.696122; longitude = -121.946256; 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 = 86.604192; pitch = -45.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 20.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 86.604192; 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 = 150.00; 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; } # ####################################################### ####################################################### ####################################################### #######################################################