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# `Engineering/profile_station_umodem.tl`¶

Mission ID: `profile_station_umodem`

Mission Path: `Engineering/profile_station_umodem.tl`

This mission yoyos in a circle around a specified location and does a-comms over the umodem. This mission is currently being used for engineering test and should be rolled into the Science/profile_station mission once it's working properly.

## 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 = 34.404711 degree
``````

The latitude of the center of the circle.

### Lon¶

``````Lon = -119.932995 degree
``````

The longitude of the center of the circle.

``````Radius = 500 meter
``````

### YoYoMinDepth¶

``````YoYoMinDepth = 2 meter
``````

Minimum depth while performing the YoYo behavior.

### YoYoMaxDepth¶

``````YoYoMaxDepth = 70 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.

### 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 = 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 = 90 meter
``````

Maximum depth for the entire mission.

### MinOffshore¶

``````MinOffshore = 2 kilometer
``````

Minimum offshore distance for the entire mission.

### MicromodemCommsInterval¶

``````MicromodemCommsInterval = 2 minute
``````

How often to trigger Umodem communications

### SendDataInterval¶

``````SendDataInterval = 60 second
``````

How often to send back some a-comms data

### DataTimer¶

``````DataTimer = NaN minute
``````

Elapsed time for a-comms.

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/MicromodemComms.tl`¶

``````redefineArg CommsInterval = MicromodemCommsInterval
``````