The vehicle will transit to an initial waypoint, then navigate to waypoints while maintaining altitude. During the altitude following phase of the mission, the vehicle descends from the surface to a commanded depth using a spiral dive (e.g., after NeedComms).
MissionTimeout = 2 hour
Maximum duration of mission
NeedCommsTime = 60 minute
How often to surface for commumications
TransitLat = NaN degree
Latitude of tranist waypoint. Transit is skipped if set to NaN.
TransitLon = NaN degree
Longitude of tranist waypoint. Transit is skipped if set to NaN.
TransitDepth = 10 meter
Depth of flat and level flight during the transit part of the mission.
ApproachDepthRate = 0.05 meter_per_second
Descent depth rate (Positive depth rate means going down).
Repeat = 1 count
Number of times the vehicle should try to cycle through waypoints.
Lat1 = NaN degree
Latitude of waypoint 1. If nan, waypoint is skipped.
Lon1 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Lat2 = NaN degree
Latitude of waypoint 2. If nan, waypoint is skipped.
Lon2 = NaN degree
Longitude of waypoint 2. If nan, waypoint is skipped.
Lat3 = NaN degree
Latitude of waypoint 3. If nan, waypoint is skipped.
Lon3 = NaN degree
Longitude of waypoint 3. If nan, waypoint is skipped.
HoldAltitude = 7 meter
Desired vehicle altitude to maintain.
InvalidAltitudeTimeout = NaN minute
The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality.
AltitudeIIRFilterDecay = 0.0 none
AltitudeServo single-pole IIR filter decay value. Low-pass filters the AltitudeServo depth command. The Decay value should be btween 0 to 1, set to 0 disable filtering.
InitDepth = 30 meter
Initial depth. The vehicle will spiral dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range).
InitDepthTimeout = 30 minute
Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired.
Speed = 1 meter_per_second
Thruster speed for the entier mission.
DepthDeadband = 0.0 meter
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
DoingComms = false
Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms.
StartFromSurface = true
Mission variable (don't change). The mission sets this to true after the vehicle surfaces for comms.