# 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: 20140529_PortugueseLedge_CrossRoute_1v1.rte # Mission File: 20140529_PortugueseLedge_CrossRoute_1v1.cfg # Distance: 1510.360886 (m) # Estimated Time: 1990 (s) 0.553 (hr) # Abort Time: 2587 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 4 # Route Points: 4 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 dB # Multibeam transmit gain: 220 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 25 (m) # Abort Vehicle Altitude 1: 15 (m) # Delta Depth Restart 1: 10 (m) # Desired Vehicle Altitude 1: 25 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 62.5 (m) # Abort Vehicle Depth: 75 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 1000 (m) # Waypoint Spacing: 1000 (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 -121.945120 36.695944 -94.522772 0.000000 9 # 1 -121.937544 36.696536 -95.740786 679.975108 9 # 2 -121.938647 36.693760 -93.702660 1003.288523 9 # 3 -121.940450 36.698094 -91.347141 1510.360886 10 # # A total of 4 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 2587; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 62.500000; abortDepth = 75.000000; minAltitude = 25.000000; abortAltitude = 15.000000; deltaDepthRestart = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 4 behavior waypoint_depth { latitude = 36.695944; longitude = -121.945120; duration = 1200; # abortOnTimeout = True; initialDepth = 50.000000; finalDepth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 41.347141 # Actual altitude: 41.347141 # Commanded vehicle depth: 50 # Seafloor depth: -91.347141 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 144.71; MB_Rate = 3; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.40; MB_Bottom_Detect_Filter_Max_Range = 144.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 144.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 507.072363 meters # Minimum depth: 80.873901 meters looking forward 1000.000000 meters along route # Maximum depth: 93.660534 meters looking forward 1000.000000 meters along route # Maximum vehicle depth: 62.500000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698094; longitude = -121.940450; duration = 1014; # abortOnTimeout = True; initialDepth = 50.000000; finalDepth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 41.347141 # Actual altitude: 41.347141 # Commanded vehicle depth: 50 # Seafloor depth: -91.347141 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 144.71; MB_Rate = 3; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.40; MB_Bottom_Detect_Filter_Max_Range = 144.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 144.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 323.313415 meters # Minimum depth: 80.873901 meters looking forward 1000.000000 meters along route # Maximum depth: 97.168874 meters looking forward 1000.000000 meters along route # Maximum vehicle depth: 62.500000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693760; longitude = -121.938647; duration = 646; # abortOnTimeout = True; initialDepth = 50.000000; finalDepth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 43.70266 # Actual altitude: 43.70266 # Commanded vehicle depth: 50 # Seafloor depth: -93.702660 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 152.96; MB_Rate = 3; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.11; MB_Bottom_Detect_Filter_Max_Range = 152.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - 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 679.975108 meters # Minimum depth: 80.964110 meters looking forward 1000.000000 meters along route # Maximum depth: 97.168874 meters looking forward 1000.000000 meters along route # Maximum vehicle depth: 62.500000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696536; longitude = -121.937544; duration = 1359; # abortOnTimeout = True; initialDepth = 50.000000; finalDepth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 45.740786 # Actual altitude: 45.740786 # Commanded vehicle depth: 50 # Seafloor depth: -95.740786 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 160.09; MB_Rate = 3; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.72; MB_Bottom_Detect_Filter_Max_Range = 160.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 9 # Commanded altitude: 81.54018 # Sonar parameter altitude: 81.54018 # Commanded vehicle depth: 15 # Seafloor depth: -96.540180 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 80.964110 meters looking forward 1000.000000 meters along route # Maximum depth: 97.168874 meters looking forward 1000.000000 meters along route # Maximum vehicle depth: 62.500000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.695944; longitude = -121.945120; duration = 600; depth = 50.000000; speed = 1.500000; } # # Descend behavior behavior descend { horizontalMode = rudder; horizontal = 3; pitch = -35.; speed = 1.5; maxDepth = 45.; minAltitude = 20.; duration = 300; } behavior waypoint_bottom { latitude = 36.695944; longitude = -121.945120; duration = 600; depth = 15.000000; speed = 1.500000; reinitFilter = True; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 60.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 25.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 60.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################