# 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: CoreSBP2.rte # Mission File: CoreSBP2.cfg # Distance: 5619.698026 (m) # Estimated Time: 8480 (s) # Abort Time: 10176 (s) # Way Points: 3 # Route Points: 30 # # Mission Parameters: # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 350 (m) # Abort Vehicle Depth: 370 (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 -121.867062 36.809584 -77.792755 0.000000 1 # 1 -121.891183 36.788599 -387.656738 3170.506738 1 # 2 -121.918516 36.790615 -422.891520 5619.698026 1 # # A total of 30 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 5619.698026 #define MISSION_TIME 8480 #define MISSION_TIMEOUT 10176 #define DEPTH_MAX 350.000000 #define DEPTH_ABORT 370.000000 #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 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 2 # Segment length 26.766696 meters # Minimum depth: 422.891520 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.790615; longitude = -121.918516; captureRadius = 10; duration = 21; depth = 350.000000; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 2 # Segment length 200.750520 meters # Minimum depth: 422.891520 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.790593; longitude = -121.918218; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.751043 meters # Minimum depth: 406.650141 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.790428; longitude = -121.915977; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.751567 meters # Minimum depth: 395.473451 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.790262; longitude = -121.913737; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.752090 meters # Minimum depth: 395.473451 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.790097; longitude = -121.911496; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.752615 meters # Minimum depth: 396.355426 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.789932; longitude = -121.909256; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.753138 meters # Minimum depth: 408.784112 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.789766; longitude = -121.907015; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.753663 meters # Minimum depth: 469.833518 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.789601; longitude = -121.904775; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.754187 meters # Minimum depth: 437.107135 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.789436; longitude = -121.902535; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.754712 meters # Minimum depth: 398.730902 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.789271; longitude = -121.900294; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.755237 meters # Minimum depth: 388.697155 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.789105; longitude = -121.898054; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 200.755762 meters # Minimum depth: 385.014377 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.788940; longitude = -121.895813; captureRadius = 10; duration = 160; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 2 # Segment length 214.140058 meters # Minimum depth: 384.953550 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.788775; longitude = -121.893573; captureRadius = 10; duration = 171; depth = 350.000000; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to end of line 1 # Segment length 112.835872 meters # Minimum depth: 384.953550 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.788599; longitude = -121.891183; captureRadius = 10; duration = 90; depth = 350.000000; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 1 # Segment length 203.103371 meters # Minimum depth: 385.259971 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.789345; longitude = -121.890325; captureRadius = 10; duration = 162; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.101827 meters # Minimum depth: 381.279552 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.790690; longitude = -121.888780; captureRadius = 10; duration = 162; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.100285 meters # Minimum depth: 380.507715 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.792034; longitude = -121.887235; captureRadius = 10; duration = 162; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.098742 meters # Minimum depth: 374.614168 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.793378; longitude = -121.885689; captureRadius = 10; duration = 162; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.621185 meters # Minimum depth: 374.614168 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.794722; longitude = -121.884144; captureRadius = 10; duration = 162; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 202.571672 meters # Minimum depth: 372.400419 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 350.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.796070; longitude = -121.882595; captureRadius = 10; duration = 162; depth = 350.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.094115 meters # Minimum depth: 336.403333 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 318.403333 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.797411; longitude = -121.881054; captureRadius = 10; duration = 162; depth = 318.403333; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.092572 meters # Minimum depth: 277.350522 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 259.350522 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.798755; longitude = -121.879509; captureRadius = 10; duration = 162; depth = 259.350522; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.091030 meters # Minimum depth: 246.409470 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 228.409470 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.800099; longitude = -121.877964; captureRadius = 10; duration = 162; depth = 228.409470; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.089487 meters # Minimum depth: 224.919816 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 206.919816 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.801444; longitude = -121.876418; captureRadius = 10; duration = 162; depth = 206.919816; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.087945 meters # Minimum depth: 202.924550 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 184.924550 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.802788; longitude = -121.874873; captureRadius = 10; duration = 162; depth = 184.924550; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.086403 meters # Minimum depth: 168.353139 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 150.353139 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.804132; longitude = -121.873328; captureRadius = 10; duration = 162; depth = 150.353139; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.084861 meters # Minimum depth: 115.413287 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 97.413287 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.805476; longitude = -121.871783; captureRadius = 10; duration = 162; depth = 97.413287; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 203.083319 meters # Minimum depth: 81.291173 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 63.291173 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.806821; longitude = -121.870238; captureRadius = 10; duration = 162; depth = 63.291173; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 214.364052 meters # Minimum depth: 77.778009 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 59.778009 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.808165; longitude = -121.868693; captureRadius = 10; duration = 171; depth = 59.778009; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 77.778009 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 350.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 59.778009 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.809584; longitude = -121.867062; captureRadius = 10; duration = 400; depth = 59.778009; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 45.000000; 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 = 45.000000; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } #######################################################