MB-System program mbm_route2mission run by

user <caress> on cpu <shepard-7> at <Sat Oct 17 15:44:56 PDT 2009>



Mission Summary:

    Route File:               BIAUVBarryTransect_2v2.rte

    Mission File:             BIAUVBarryTransect_2v2.cfg

    Distance:                 3573 (m)  3.573 (km)

    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)

    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:

  <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <length (m)> <type>

     0 -122.122049  36.815175 -131.500     0.00     0.00 1

     1 -122.126423  36.812351 -147.387   500.35   500.35 0

     2 -122.131703  36.808941 -199.584  1104.50   604.15 3

     3 -122.129911  36.806778 -201.383  1392.88   288.38 1

     4 -122.126830  36.804840 -198.617  1741.83   348.95 1

     5 -122.123693  36.803352 -199.835  2066.71   324.87 1

     6 -122.119771  36.801955 -198.995  2449.33   382.63 1

     7 -122.115738  36.800784 -198.879  2831.93   382.59 1

     8 -122.111424  36.799792 -198.502  3232.17   400.24 1

     9 -122.107652  36.799311 -199.076  3572.88   340.72 4

Behavior: gps
Behavior: ascend
Behavior: acousticUpdate
Behavior: stopCamera (distance:3572.88 m
Behavior: waypoint_depth (to end line 8)  Segment length: 340.72 m  Depths:  198.50 199.08 m
Behavior: waypoint_depth (to end line 7)  Segment length: 400.24 m  Depths:  198.88 198.50 m
Behavior: waypoint_depth (to end line 6)  Segment length: 382.59 m  Depths:  198.99 198.88 m
Behavior: waypoint_depth (to end line 5)  Segment length: 382.63 m  Depths:  199.84 198.99 m
Behavior: waypoint_depth (to end line 4)  Segment length: 324.87 m  Depths:  198.62 199.84 m
Behavior: waypoint_depth (to end line 3)  Segment length: 348.95 m  Depths:  201.38 198.62 m
Behavior: waypoint_depth (to end line 2)  Segment length: 288.38 m  Depths:  199.58 199.88 m
Behavior: startCamera (distance:1104.50 m, run length:2468.39 m, nphotos:271)
Behavior: acousticUpdate
Behavior: waypoint_depth (to end line 1)  Segment length: 604.15 m  Depths:  147.39 199.58 m
Behavior: waypoint_depth (during line 1)  Segment length: 500.35 m  Depths:  131.50 147.39 m
Behavior: waypoint_depth (to start line 1)  Segment length: 0.00 m  Depths:  131.50 131.50 m
Behavior: acousticUpdate
Behavior: descend
Behavior: setpoint
Behavior: gps


All done!