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Engineering/profile_station_backseat.xml

Mission ID: profile_station_backseat

Mission Path: Engineering/profile_station_backseat.xml

This mission yoyos in a circle around a specified location.

Arguments

MissionTimeout

MissionTimeout = 4 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

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

Lat

Lat = 36.806966 degree

The latitude of the center of the circle.

Lon

Lon = -121.824326 degree

The longitude of the center of the circle.

Radius

Radius = 300 meter

Radius to circle at

YoYoMinDepth

YoYoMinDepth = 2 meter

Minimum depth while performing the YoYo behavior.

YoYoMaxDepth

YoYoMaxDepth = 20 meter

Maximum depth while performing the YoYo behavior.

YoYoMinAltitude

YoYoMinAltitude = 7 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

YoYoPitch

YoYoPitch = 20 degree

Pitch (plus and minus) for yo-yo behavior.

YoYoDepthRate

YoYoDepthRate = NaN meter_per_second

Depth rate (plus and minus) for yo-yo behavior. Overides YoYoPitch when value is set.

Speed

Speed = 1 meter_per_second

Vehicle speed.

CircleMaxError

CircleMaxError = 100 meter

If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.

CircleTurnToPort

CircleTurnToPort = false

If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.

KwpHeading

KwpHeading = 0.010 radian_per_meter

Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)

MinAltitude

MinAltitude = 5 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 205 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

Output

None defined

Inserts

Insert/Science.tl

Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.

redefineArg PeakDetectChlActive = true

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:BackseatDriver

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:YoYo