# 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: FirstTest.rte # Mission File: FirstTest.cfg # Distance: 1754.119462 (m) # Estimated Time: 3156 (s) 0.877 (hr) # Abort Time: 3787 (s) # Way Points: 2 # Route Points: 10 # # Mission Parameters: # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 130 (m) # Abort Vehicle Depth: 150 (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 -121.885806 36.816604 -77.321533 0.000000 1 # 1 -121.867062 36.811824 -76.963896 1754.119462 1 # # A total of 10 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 1754.119462 #define MISSION_TIME 3156 #define MISSION_TIMEOUT 3787 #define DEPTH_MAX 130.000000 #define DEPTH_ABORT 150.000000 #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 MAXCROSSTRACKERROR 20 #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_depth behavior to get to end of line 1 # Segment length 69.844458 meters # Minimum depth: 76.645223 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 58.645223 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.811824; longitude = -121.867062; captureRadius = 10; duration = 55; initialDepth = 58.645223; finalDepth = 58.645223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior during line 1 # Segment length 209.666126 meters # Minimum depth: 75.830751 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 57.830751 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.812014; longitude = -121.867808; captureRadius = 10; duration = 167; initialDepth = 57.830751; finalDepth = 58.645223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 209.664609 meters # Minimum depth: 75.763532 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 57.763532 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.812586; longitude = -121.870049; captureRadius = 10; duration = 167; initialDepth = 57.763532; finalDepth = 57.830751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 209.663090 meters # Minimum depth: 75.666562 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 57.666562 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.813157; longitude = -121.872289; captureRadius = 10; duration = 167; initialDepth = 57.666562; finalDepth = 57.763532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 209.661572 meters # Minimum depth: 75.666562 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 57.666562 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.813728; longitude = -121.874530; captureRadius = 10; duration = 167; initialDepth = 57.666562; finalDepth = 57.666562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 215.260926 meters # Minimum depth: 75.801681 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 57.801681 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.814299; longitude = -121.876770; captureRadius = 10; duration = 172; initialDepth = 57.801681; finalDepth = 57.666562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 204.057667 meters # Minimum depth: 76.198744 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 58.198744 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.814886; longitude = -121.879070; captureRadius = 10; duration = 163; initialDepth = 58.198744; finalDepth = 57.801681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 209.657020 meters # Minimum depth: 76.357724 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 58.357724 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.815442; longitude = -121.881251; captureRadius = 10; duration = 167; initialDepth = 58.357724; finalDepth = 58.198744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Waypoint_depth behavior during line 1 # Segment length 216.643994 meters # Minimum depth: 76.357724 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 58.357724 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.816013; longitude = -121.883491; captureRadius = 10; duration = 173; initialDepth = 58.357724; finalDepth = 58.357724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 76.357724 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 130.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 58.357724 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.816604; longitude = -121.885806; captureRadius = 10; duration = 400; initialDepth = 58.357724; finalDepth = 58.357724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 106.922544; 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 = 106.922544; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } #######################################################