# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Wed Mar 30 07:58:27 PST 2005>
# 
# Mission Summary:
#     Route File:               OutNBack.rte
#     Mission File:             OutNBackRaw.cfg
#     Distance:                 563.540680 (m)
#     Estimated Time:           2985 (s)
#     Abort Time:               3582 (s)
#     Way Points:               3
#     Route Points:             3
# 
# 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: 500 (m)
#     Waypoint Spacing:         500 (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:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.857652 36.777770 -70.935183 0.000000 1
#   1 -121.857577 36.780309 -73.693052 281.764610 1
#   2 -121.857652 36.777770 -70.938263 563.540680 1
# 
# A total of 3 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED     1.000000
#define MISSION_DISTANCE  563.540680
#define MISSION_TIME      2985
#define MISSION_TIMEOUT   3582
#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 2
#   Segment length 281.776070 meters
#   Minimum depth: 70.938263 meters looking forward 500.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 52.938263 meters set by local depth and minimum altitude
behavior waypoint_yoyo
{ 
latitude     = 36.777770; 
longitude    = -121.857652; 
captureRadius = 10; 
duration     = 338; 
speed        = MISSION_SPEED; 
minDepth       = 3;
maxDepth       = 60;
minAltitude    = 20;
maxCycles      = 1000;
} 
#######################################################
#######################################################
# 
# Waypoint behavior to get to end of line 1
#   Segment length 281.764610 meters
#   Minimum depth: 71.075904 meters looking forward 500.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 53.075904 meters set by local depth and minimum altitude
behavior waypoint_yoyo
{ 
latitude     = 36.780309; 
longitude    = -121.857577; 
captureRadius = 10; 
duration     = 338; 
speed        = MISSION_SPEED; 
minDepth       = 3;
maxDepth       = 60;
minAltitude    = 20;
maxCycles      = 1000;
} 
#######################################################
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 500.000000 meters
#   Minimum depth: 70.935183 meters looking forward 500.000000 meters along route
#   Maximum vehicle depth: 60.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 52.935183 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.777770; 
longitude    = -121.857652; 
captureRadius = 10; 
duration     = 600; 
depth        = 10.0;
speed        = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 180.000000; 
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      = 180.000000; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = False; 
} 
#######################################################