# 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: BIAUVBarryTransect_2v2.rte # Mission File: BIAUVBarryTransect_2v2.cfg # Distance: 3572.884912 (m) # Estimated Time: 4871 (s) 1.353 (hr) # Abort Time: 6333 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 9 # Route Points: 10 # Survey behavior: WaypointDepth # Descent style: Waypoint 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: 199.882772 (m) # Abort Vehicle Depth: 201.382772 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 500 (m) # 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 from the route file are: # # 0 -122.122049 36.815175 -131.499502 0.000000 1 # 1 -122.131703 36.808941 -199.583984 1104.499349 3 # 2 -122.129911 36.806778 -201.382772 1392.882371 1 # 3 -122.126830 36.804840 -198.616760 1741.831240 1 # 4 -122.123693 36.803352 -199.835266 2066.705588 1 # 5 -122.119771 36.801955 -198.994792 2449.333918 1 # 6 -122.115738 36.800784 -198.879089 2831.927710 1 # 7 -122.111424 36.799792 -198.501506 3232.166072 1 # 8 -122.107652 36.799311 -199.076457 3572.884912 4 # # A total of 10 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.000000 #define MISSION_DISTANCE 3572.884912 #define MISSION_TIME 4871 #define MISSION_TIMEOUT 6333 #define DEPTH_MAX 199.882772 #define DEPTH_ABORT 201.382772 #define ALTITUDE_DESIRED 0.000000 #define ALTITUDE_MIN 3.000000 #define ALTITUDE_ABORT 1.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #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 = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off camera imaging # Distance along survey: 3572.884912 #behavior stopCamera #{ #duration = 1; #} ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 340.718840 meters # Minimum depth: 199.076457 meters looking forward 0.000000 meters along route # Maximum depth: 199.076457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 199.076457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799311; longitude = -122.107652; captureRadius = 10; duration = 1022; # abortOnTimeout = True; initialDepth = 198.501506; finalDepth = 199.076457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 400.238362 meters # Minimum depth: 198.501506 meters looking forward 0.000000 meters along route # Maximum depth: 198.501506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 198.501506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799792; longitude = -122.111424; captureRadius = 10; duration = 1200; # abortOnTimeout = True; initialDepth = 198.879089; finalDepth = 198.501506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 382.593792 meters # Minimum depth: 198.879089 meters looking forward 0.000000 meters along route # Maximum depth: 198.879089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 198.879089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800784; longitude = -122.115738; captureRadius = 10; duration = 1147; # abortOnTimeout = True; initialDepth = 198.994792; finalDepth = 198.879089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 382.628330 meters # Minimum depth: 198.994792 meters looking forward 0.000000 meters along route # Maximum depth: 198.994792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 198.994792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801955; longitude = -122.119771; captureRadius = 10; duration = 1147; # abortOnTimeout = True; initialDepth = 199.835266; finalDepth = 198.994792; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 324.874348 meters # Minimum depth: 199.835266 meters looking forward 0.000000 meters along route # Maximum depth: 199.835266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 199.835266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803352; longitude = -122.123693; captureRadius = 10; duration = 974; # abortOnTimeout = True; initialDepth = 198.616760; finalDepth = 199.835266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 348.948869 meters # Minimum depth: 198.616760 meters looking forward 0.000000 meters along route # Maximum depth: 198.616760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 198.616760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804840; longitude = -122.126830; captureRadius = 10; duration = 1046; # abortOnTimeout = True; initialDepth = 201.382772; finalDepth = 198.616760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 288.383022 meters # Minimum depth: 201.382772 meters looking forward 0.000000 meters along route # Maximum depth: 201.382772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 199.882772 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806778; longitude = -122.129911; captureRadius = 10; duration = 865; # abortOnTimeout = True; initialDepth = 199.583984; finalDepth = 199.882772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1104.499349 # Length of camera run: 2468.385563 # Number of photos: 271 behavior startCamera { duration = 1; nPhotos = 271; nSamplePeriods = 50; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 604.154301 meters # Minimum depth: 199.583984 meters looking forward 0.000000 meters along route # Maximum depth: 199.583984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 199.583984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808941; longitude = -122.131703; captureRadius = 10; duration = 1812; # abortOnTimeout = True; initialDepth = 147.386711; finalDepth = 199.583984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 500.345048 meters # Minimum depth: 147.386711 meters looking forward 0.000000 meters along route # Maximum depth: 147.386711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 147.386711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812351; longitude = -122.126423; captureRadius = 10; duration = 1501; initialDepth = 131.499502; finalDepth = 147.386711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 131.499502 meters looking forward 0.000000 meters along route # Maximum depth: 131.499502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 199.882772 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 131.499502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815175; longitude = -122.122049; captureRadius = 10; duration = 600; initialDepth = 131.499502; finalDepth = 131.499502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 230.707322; 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 = 230.707322; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### #######################################################