This mission tests sending DVL depth-averaged water current to shore, based on a vehicle depth envelope.
MinAltitude = 4 meter
Minimum altitude for the entire mission.
MaxDepth = 85 meter
Maximum depth for the entire mission.
MinOffshore = 2000 meter
Minimum offshore distance for the entire mission.
Speed = 1 meter_per_second
MissionTimeout = 2 hour
Maximum duration of mission
MassDefault = Control:VerticalControl.massDefault
Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file.
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file.
WpLat = 33.5839 degree
Latitude (default to EcoHAB 2013 offshore ESP buoy).
WpLon = -118.0349 degree
Longitude (default to EcoHAB 2013 offshore ESP buoy).
NeedCommsTime = 20 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications.
ComputeWaterCurrent = false
Set "True" if you want depth-averaged water current calculated when the vehicle is between 2 and 5 meters deep. Enable platform_*_velocity_current in Config/logger.cfg if you want it sent to shore. Leaving this False but enabling shore output in Config/logger.cfg should allow us to control this without having to send configuration changes and 'restart app'.
CircleRadius = 500 meter
Radius of circle around Inshore ESP during wait time
CircleRepeat = 13 count
Maximum number of times to circle the waypoint at the start of each lap.
CircleDivisor = 8 hour
UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC)
CircleModulus = NaN hour
Current time modulo CircleDivisor (internal variable).
CircleTimeout = 8 hour
Timeout for circling buoy at start of each lap (internal variable).
YoYoMinDepth = 4.0 meter
Minimum depth during yo-yo's.
YoYoMaxDepth = 78.0 meter
Maximum depth during yo-yo's.
YoYoMinAltitude = 6.0 meter
Min altitude while in yo-yo mode.
YoYoUpPitch = 20.0 degree
Pitch when yo-yo's are ascending.
YoYoDownPitch = -20.0 degree
Pitch when yo-yo's are descending.
Get science data, including PeakDetectChl
redefineArg PeakDetectChlActive = true
redefineArg ComputeWaterCurrent = true
redefineArg ComputeWaterCurrentMinDepth = 3.0 meter
redefineArg ComputeWaterCurrentMaxDepth = 5.0 meter
redefineArg UpwardDerivativeOfTemperatureActive = false
redefineArg DepthShallow = 5 meter
redefineArg DepthMidShallow = 10 meter
redefineArg DepthMidDeep = 20 meter
redefineArg DepthDeep = 25 meter
redefineArg Verbosity = 1 count