MB-System program mbm_route2mission run by user on cpu at Mission Summary: Route File: BIAUVBarryTransect_1v4.rte Mission File: BIAUVBarryTransect_1v4.cfg Distance: 15517 (m) 15.517 (km) Estimated Time: 17215 (s) 4.782 (hr) Abort Time: 22380 (s) Max battery life: 64800 (s) Safety margin: 1800 (s) Ascend time: 718 (s) Way Points: 28 Route Points: 43 Survey behavior: WaypointDepth Descent style: Spiral descent Mapping sonar control disabled: Benthic imaging camera control enabled: Mission Parameters: Vehicle Speed: 1.000000 (m/s) 1.943846 (knots) Desired Vehicle Altitude: 0 (m) Minimum Vehicle Altitude: 3 (m) Abort Vehicle Altitude: 1 (m) Maximum Vehicle Depth: 1000.368652 (m) Abort Vehicle Depth: 1001.868652 (m) Descent Vehicle Depth: 3 (m) Spiral descent depth: 991.868652 m Spiral descent altitude: 0 m Waypoint Spacing: 500 (m) Maximum upward slope: 25.000000 degrees 0.466308 ratio 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 and selected section points from the route file are: 0 -122.277129 36.745801 -1001.869 0.00 0.00 3 1 -122.275785 36.744314 -999.858 204.03 204.03 1 2 -122.274029 36.742842 -1000.601 430.37 226.34 1 3 -122.271957 36.741174 -999.587 692.02 261.65 1 4 -122.269716 36.739642 -998.694 954.55 262.52 1 5 -122.267195 36.738110 -999.470 1236.60 282.05 1 6 -122.264898 36.737389 -999.481 1456.71 220.12 1 7 -122.262564 36.736292 -999.542 1698.03 241.32 1 8 -122.259651 36.735346 -1000.178 1978.52 280.49 4 9 -122.254236 36.736635 -980.682 2482.72 504.21 0 10 -122.248858 36.737915 -961.162 2983.45 500.72 0 11 -122.243480 36.739195 -946.939 3484.16 500.72 0 12 -122.238102 36.740475 -934.892 3984.87 500.71 0 13 -122.232725 36.741755 -917.811 4485.58 500.70 0 14 -122.227347 36.743035 -910.210 4986.27 500.69 0 15 -122.221969 36.744315 -899.459 5486.96 500.69 0 16 -122.216591 36.745595 -889.985 5987.64 500.68 0 17 -122.211213 36.746875 -875.303 6488.31 500.67 0 18 -122.205835 36.748155 -862.842 6988.98 500.67 0 19 -122.200458 36.749435 -838.891 7489.63 500.66 0 20 -122.193380 36.751119 -800.009 8148.48 658.84 3 21 -122.195322 36.752081 -800.735 8352.02 203.55 1 22 -122.197675 36.752712 -799.921 8573.41 221.39 1 23 -122.200196 36.752847 -799.329 8798.95 225.53 1 24 -122.202661 36.752892 -798.544 9019.04 220.09 1 25 -122.205201 36.752697 -800.673 9246.77 227.73 1 26 -122.207721 36.752471 -802.031 9473.19 226.42 1 27 -122.210354 36.752156 -803.035 9710.82 237.63 1 28 -122.213155 36.752021 -798.584 9961.31 250.49 1 29 -122.216012 36.751570 -798.497 10221.20 259.90 4 30 -122.216587 36.756062 -741.123 10722.13 500.92 0 31 -122.217163 36.760568 -691.658 11224.73 502.60 0 32 -122.217739 36.765075 -659.051 11727.32 502.60 0 33 -122.218316 36.769582 -631.114 12229.92 502.60 0 34 -122.219205 36.776537 -599.107 13005.60 775.68 3 35 -122.221558 36.778160 -599.893 13282.15 276.55 1 36 -122.223743 36.780188 -599.884 13579.85 297.70 1 37 -122.226320 36.782757 -601.196 13946.03 366.18 1 38 -122.228598 36.785295 -599.401 14293.37 347.34 1 39 -122.230110 36.788540 -599.531 14677.81 384.44 1 40 -122.231249 36.790914 -599.371 14960.06 282.25 1 41 -122.231922 36.793302 -599.968 15231.74 271.68 1 42 -122.231866 36.795871 -598.729 15516.76 285.02 4 Behavior: gps Behavior: ascend Behavior: acousticUpdate Behavior: stopCamera (distance:15516.76 m Behavior: waypoint_depth (to end line 27) Segment length: 285.02 m Depths: 599.97 598.73 m Behavior: waypoint_depth (to end line 26) Segment length: 271.68 m Depths: 599.37 599.97 m Behavior: waypoint_depth (to end line 25) Segment length: 282.25 m Depths: 599.53 599.37 m Behavior: waypoint_depth (to end line 24) Segment length: 384.44 m Depths: 599.40 599.53 m Behavior: waypoint_depth (to end line 23) Segment length: 347.34 m Depths: 601.20 599.40 m Behavior: waypoint_depth (to end line 22) Segment length: 366.18 m Depths: 599.88 601.20 m Behavior: waypoint_depth (to end line 21) Segment length: 297.70 m Depths: 599.89 599.88 m Behavior: waypoint_depth (to end line 20) Segment length: 276.55 m Depths: 599.11 599.89 m Behavior: startCamera (distance:13005.60 m, run length:2511.16 m, nphotos:276) Behavior: acousticUpdate Behavior: waypoint_depth (to end line 19) Segment length: 775.68 m Depths: 631.11 599.11 m Behavior: waypoint_depth (during line 19) Segment length: 502.60 m Depths: 659.05 631.11 m Behavior: waypoint_depth (during line 19) Segment length: 502.60 m Depths: 691.66 659.05 m Behavior: waypoint_depth (during line 19) Segment length: 502.60 m Depths: 741.12 691.66 m Behavior: waypoint_depth (during line 19) Segment length: 500.92 m Depths: 798.50 741.12 m Behavior: acousticUpdate Behavior: stopCamera (distance:10221.20 m Behavior: waypoint_depth (to end line 18) Segment length: 259.90 m Depths: 798.58 798.50 m Behavior: waypoint_depth (to end line 17) Segment length: 250.49 m Depths: 803.03 798.58 m Behavior: waypoint_depth (to end line 16) Segment length: 237.63 m Depths: 802.03 803.03 m Behavior: waypoint_depth (to end line 15) Segment length: 226.42 m Depths: 800.67 802.03 m Behavior: waypoint_depth (to end line 14) Segment length: 227.73 m Depths: 798.54 800.67 m Behavior: waypoint_depth (to end line 13) Segment length: 220.09 m Depths: 799.33 798.54 m Behavior: waypoint_depth (to end line 12) Segment length: 225.53 m Depths: 799.92 799.33 m Behavior: waypoint_depth (to end line 11) Segment length: 221.39 m Depths: 800.74 799.92 m Behavior: waypoint_depth (to end line 10) Segment length: 203.55 m Depths: 800.01 800.74 m Behavior: startCamera (distance:8148.48 m, run length:2072.73 m, nphotos:228) Behavior: acousticUpdate Behavior: waypoint_depth (to end line 9) Segment length: 658.84 m Depths: 838.89 800.01 m Behavior: waypoint_depth (during line 9) Segment length: 500.66 m Depths: 862.84 838.89 m Behavior: waypoint_depth (during line 9) Segment length: 500.67 m Depths: 875.30 862.84 m Behavior: waypoint_depth (during line 9) Segment length: 500.67 m Depths: 889.98 875.30 m Behavior: waypoint_depth (during line 9) Segment length: 500.68 m Depths: 899.46 889.98 m Behavior: waypoint_depth (during line 9) Segment length: 500.69 m Depths: 910.21 899.46 m Behavior: waypoint_depth (during line 9) Segment length: 500.69 m Depths: 917.81 910.21 m Behavior: waypoint_depth (during line 9) Segment length: 500.70 m Depths: 934.89 917.81 m Behavior: waypoint_depth (during line 9) Segment length: 500.71 m Depths: 946.94 934.89 m Behavior: waypoint_depth (during line 9) Segment length: 500.72 m Depths: 961.16 946.94 m Behavior: waypoint_depth (during line 9) Segment length: 500.72 m Depths: 980.68 961.16 m Behavior: waypoint_depth (during line 9) Segment length: 504.21 m Depths: 1000.18 980.68 m Behavior: acousticUpdate Behavior: stopCamera (distance:1978.52 m Behavior: waypoint_depth (to end line 8) Segment length: 280.49 m Depths: 999.54 1000.18 m Behavior: waypoint_depth (to end line 7) Segment length: 241.32 m Depths: 999.48 999.54 m Behavior: waypoint_depth (to end line 6) Segment length: 220.12 m Depths: 999.47 999.48 m Behavior: waypoint_depth (to end line 5) Segment length: 282.05 m Depths: 998.69 999.47 m Behavior: waypoint_depth (to end line 4) Segment length: 262.52 m Depths: 999.59 998.69 m Behavior: waypoint_depth (to end line 3) Segment length: 261.65 m Depths: 1000.60 999.59 m Behavior: waypoint_depth (to end line 2) Segment length: 226.34 m Depths: 999.86 1000.37 m Behavior: waypoint_depth (to end line 1) Segment length: 204.03 m Depths: 1001.87 999.86 m Behavior: startCamera (distance:0.00 m, run length:1978.52 m, nphotos:217) Behavior: acousticUpdate Behavior: waypoint Behavior: startsurvey Behavior: acousticUpdate Behavior: spiral descend Behavior: acousticUpdate Behavior: waypoint Behavior: acousticUpdate Behavior: descend Behavior: setpoint Behavior: gps All done!