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¶
Radius = 500 meter
Radius to circle at
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¶
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.
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/MicromodemComms.tl¶
redefineArg CommsInterval = MicromodemCommsInterval