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Deprecated/Engineering/SendWaterCurrentToShore.xml

Mission ID: test

Mission Path: Deprecated/Engineering/SendWaterCurrentToShore.xml

This mission tests sending DVL depth-averaged water current to shore, based on a vehicle depth envelope.

Arguments

MinAltitude

MinAltitude = 4 meter

Minimum altitude for the entire mission.

MaxDepth

MaxDepth = 85 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2000 meter

Minimum offshore distance for the entire mission.

Speed

Speed = 1 meter_per_second

Vehicle speed.

MissionTimeout

MissionTimeout = 2 hour

Maximum duration of mission

MassDefault

MassDefault = Control:VerticalControl.massDefault

Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file.

BuoyancyNeutral

BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file.

WpLat

WpLat = 33.5839 degree

Latitude (default to EcoHAB 2013 offshore ESP buoy).

WpLon

WpLon = -118.0349 degree

Longitude (default to EcoHAB 2013 offshore ESP buoy).

NeedCommsTime

NeedCommsTime = 20 minute

Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications.

ComputeWaterCurrent

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

CircleRadius = 500 meter

Radius of circle around Inshore ESP during wait time

CircleRepeat

CircleRepeat = 13 count

Maximum number of times to circle the waypoint at the start of each lap.

CircleDivisor

CircleDivisor = 8 hour

UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC)

CircleModulus

CircleModulus = NaN hour

Current time modulo CircleDivisor (internal variable).

CircleTimeout

CircleTimeout = 8 hour

Timeout for circling buoy at start of each lap (internal variable).

YoYoMinDepth

YoYoMinDepth = 4.0 meter

Minimum depth during yo-yo's.

YoYoMaxDepth

YoYoMaxDepth = 78.0 meter

Maximum depth during yo-yo's.

YoYoMinAltitude

YoYoMinAltitude = 6.0 meter

Min altitude while in yo-yo mode.

YoYoUpPitch

YoYoUpPitch = 20.0 degree

Pitch when yo-yo's are ascending.

YoYoDownPitch

YoYoDownPitch = -20.0 degree

Pitch when yo-yo's are descending.

Output

None defined

Inserts

Insert/Surface.tl

Deprecated/Insert/SurfaceCommsSplit.xml

Deprecated/Insert/SurfaceCommsShort.xml

Insert/SurfaceGPS.tl.xml

Deprecated/Insert/SurfaceSafety.xml

Insert/CircleWaypointRepeatedly.xml

Insert/Science.tl

Get science data, including PeakDetectChl

redefineArg PeakDetectChlActive = true
redefineArg ComputeWaterCurrent = true
redefineArg ComputeWaterCurrentMinDepth = 3.0 meter
redefineArg ComputeWaterCurrentMaxDepth = 5.0 meter
redefineArg UpwardDerivativeOfTemperatureActive = false

Insert/VerticalTemperatureHomogeneityIndex.xml

redefineArg DepthShallow = 5 meter
redefineArg DepthMidShallow = 10 meter
redefineArg DepthMidDeep = 20 meter
redefineArg DepthDeep = 25 meter
redefineArg Verbosity = 1 count

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:OffshoreEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:YoYo