# 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: GetSouth.rte # Mission File: GetSouth.cfg # Distance: 1044.137560 (m) # Estimated Time: 3084 (s) # Abort Time: 3701 (s) # Way Points: 2 # Route Points: 16 # # Mission Parameters: # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 60 (m) # Abort Vehicle Depth: 70 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 50 (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 -121.857353 36.786134 -192.876750 0.000000 1 # 1 -121.857577 36.776724 -70.364451 1044.137560 1 # # A total of 16 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 1044.137560 #define MISSION_TIME 3084 #define MISSION_TIMEOUT 3701 #define DEPTH_MAX 60.000000 #define DEPTH_ABORT 70.000000 #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 1 # Segment length 8.286800 meters # Minimum depth: 70.364451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 52.364451 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.776724; longitude = -121.857577; captureRadius = 10; duration = 6; depth = 52.364451; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior during line 1 # Segment length 74.581201 meters # Minimum depth: 70.364451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 52.364451 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.776799; longitude = -121.857575; captureRadius = 10; duration = 59; depth = 52.364451; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581210 meters # Minimum depth: 70.364451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 52.364451 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.777471; longitude = -121.857559; captureRadius = 10; duration = 59; depth = 52.364451; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581218 meters # Minimum depth: 70.466559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 52.466559 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.778143; longitude = -121.857543; captureRadius = 10; duration = 59; depth = 52.466559; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581226 meters # Minimum depth: 70.763696 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 52.763696 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.778815; longitude = -121.857527; captureRadius = 10; duration = 59; depth = 52.763696; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581234 meters # Minimum depth: 71.475122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 53.475122 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.779488; longitude = -121.857511; captureRadius = 10; duration = 59; depth = 53.475122; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581243 meters # Minimum depth: 72.475739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 54.475739 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.780160; longitude = -121.857495; captureRadius = 10; duration = 59; depth = 54.475739; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581251 meters # Minimum depth: 72.946550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 54.946550 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.780832; longitude = -121.857479; captureRadius = 10; duration = 59; depth = 54.946550; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581259 meters # Minimum depth: 73.720881 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 55.720881 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.781504; longitude = -121.857463; captureRadius = 10; duration = 59; depth = 55.720881; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581268 meters # Minimum depth: 76.777959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 58.777959 meters set by local depth and minimum altitude behavior waypoint { latitude = 36.782176; longitude = -121.857447; captureRadius = 10; duration = 59; depth = 58.777959; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581276 meters # Minimum depth: 83.289829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.782848; longitude = -121.857431; captureRadius = 10; duration = 59; depth = 60.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581284 meters # Minimum depth: 94.459022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.783520; longitude = -121.857415; captureRadius = 10; duration = 59; depth = 60.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581293 meters # Minimum depth: 112.032312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.784192; longitude = -121.857399; captureRadius = 10; duration = 59; depth = 60.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 74.581300 meters # Minimum depth: 127.633133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.784865; longitude = -121.857383; captureRadius = 10; duration = 59; depth = 60.000000; speed = MISSION_SPEED; } # # Waypoint behavior during line 1 # Segment length 66.294497 meters # Minimum depth: 145.414122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.785537; longitude = -121.857367; captureRadius = 10; duration = 53; depth = 60.000000; speed = MISSION_SPEED; } ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 145.414122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 60.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 60.000000 meters set to maximum vehicle depth behavior waypoint { latitude = 36.786134; longitude = -121.857353; captureRadius = 10; duration = 400; depth = 60.000000; 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; } #######################################################