missionsci2_umodem{""" Vehicle yo-yo's to the specified waypoints, with science turned on. """arguments{MissionTimeout=2hour""" Maximum duration of mission """NeedCommsTime=60minute""" How often to surface for commumications """Repeat=1count""" Number of times the vehicle should try to cycle through waypoints.. """Lat1=NaNdegree""" Latitude of waypoint 1. If nan, waypoint is skipped. """Lon1=NaNdegree""" Longitude of waypoint 1. If nan, waypoint is skipped. """Lat2=NaNdegree""" Latitude of waypoint 2. If nan, waypoint is skipped. """Lon2=NaNdegree""" Longitude of waypoint 2. If nan, waypoint is skipped. """Lat3=NaNdegree""" Latitude of waypoint 3. If nan, waypoint is skipped. """Lon3=NaNdegree""" Longitude of waypoint 3. If nan, waypoint is skipped. """Lat4=NaNdegree""" Latitude of waypoint 4. If nan, waypoint is skipped. """Lon4=NaNdegree""" Longitude of waypoint 4. If nan, waypoint is skipped. """Lat5=NaNdegree""" Latitude of waypoint 5. If nan, waypoint is skipped. """Lon5=NaNdegree""" Longitude of waypoint 5. If nan, waypoint is skipped. """Lat6=NaNdegree""" Latitude of waypoint 6. If nan, waypoint is skipped. """Lon6=NaNdegree""" Longitude of waypoint 6. If nan, waypoint is skipped. """Lat7=NaNdegree""" Latitude of waypoint 7. If nan, waypoint is skipped. """Lon7=NaNdegree""" Longitude of waypoint 7. If nan, waypoint is skipped. """Speed=1meter_per_second""" Speed while performing the YoYo behavior. """CaptureRadius=NaNmeter""" Speed while performing the YoYo behavior. """YoYoMinDepth=2meter""" Minimum depth while performing the YoYo behavior. """YoYoMaxDepth=200meter""" Maximum depth while performing the YoYo behavior. """YoYoMinAltitude=9meter""" Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). """YoYoUpPitch=20degree""" Vehicle up pitch while performing the YoYo behavior. """YoYoDownPitch=-20degree""" Vehicle down pitch while performing the YoYo behavior. """BuoyancyNeutral=Control:VerticalControl.buoyancyNeutral""" Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy """MassDefault=Control:VerticalControl.massDefault""" Static setting for mass during the mission. Set to NaN mm for active mass position """MinAltitude=5meter""" Minimum height above the sea floor for the entire mission. """MaxDepth=205meter""" Maximum depth for the entire mission. """MinOffshore=2kilometer""" Minimum offshore distance for the entire mission. """timeoutduration=MissionTimeoutMicromodemCommsInterval=2minute""" How often to trigger Umodem communications """}insertInsert/Science.xml{""" 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. """redefineArgPeakDetectChlActive=true}insertInsert/NeedComms.xmlid="NeedComms"assigninsequenceNeedComms:DiveInterval=NeedCommsTimeinsertInsert/StandardEnvelopes.xmlassigninsequenceStandardEnvelopes:MinAltitude=MinAltitudeassigninsequenceStandardEnvelopes:MaxDepth=MaxDepthassigninsequenceStandardEnvelopes:MinOffshore=MinOffshorecallid="StartingMission"refId="NeedComms"behaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.massPosition=MassDefault}behaviorGuidance:Buoyancy{runinparallelsetGuidance:Buoyancy.position=BuoyancyNeutral}behaviorGuidance:SetSpeed{runinparallelsetGuidance:SetSpeed.speed=Speed}behaviorGuidance:DepthEnvelope{""" Another depth envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for depth-terminated YoYos. """runinparallelsetGuidance:DepthEnvelope.minDepth=YoYoMinDepthsetGuidance:DepthEnvelope.maxDepth=YoYoMaxDepthsetGuidance:DepthEnvelope.downPitch=YoYoDownPitchsetGuidance:DepthEnvelope.upPitch=YoYoUpPitch}behaviorGuidance:AltitudeEnvelope{""" Another altitude envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for bottom-terminated YoYos. """runinparallelsetGuidance:AltitudeEnvelope.minAltitude=YoYoMinAltitudesetGuidance:AltitudeEnvelope.upPitch=YoYoUpPitch}behaviorGuidance:YoYo{runinparallelsetGuidance:YoYo.downPitch=YoYoDownPitchsetGuidance:YoYo.upPitch=YoYoUpPitch}aggregateLap{runinsequencerepeat=RepeatinsertInsert/MicromodemComms.xmlid="MicromodemComms"{redefineArgCommsInterval=MicromodemCommsInterval}aggregateWpt1{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat1setGuidance:Waypoint.longitude=Lon1setGuidance:Waypoint.captureRadius=CaptureRadius}}aggregateWpt2{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat2setGuidance:Waypoint.longitude=Lon2}}aggregateWpt3{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat3setGuidance:Waypoint.longitude=Lon3}}aggregateWpt4{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat4setGuidance:Waypoint.longitude=Lon4}}aggregateWpt5{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat5setGuidance:Waypoint.longitude=Lon5}}aggregateWpt6{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat6setGuidance:Waypoint.longitude=Lon6}}aggregateWpt7{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat7setGuidance:Waypoint.longitude=Lon7}}}}
<?xml version="1.0" encoding="UTF-8"?><!-- ==================== Generated by TethysL ==================== --><Missionxmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"xmlns="Tethys"xmlns:Units="Tethys/Units"xmlns:Control="Tethys/Control"xmlns:Guidance="Tethys/Guidance"xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd"Id="sci2_umodem"><Description>
Vehicle yo-yo's to the specified waypoints, with science turned on.
</Description><DefineArgName="MissionTimeout"><Description>
Maximum duration of mission
</Description><Units:hour/><Value>2</Value></DefineArg><DefineArgName="NeedCommsTime"><Description>
How often to surface for commumications
</Description><Units:minute/><Value>60</Value></DefineArg><DefineArgName="Repeat"><Description>
Number of times the vehicle should try to cycle through waypoints..
</Description><Units:count/><Value>1</Value></DefineArg><DefineArgName="Lat1"><Description>
Latitude of waypoint 1. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon1"><Description>
Longitude of waypoint 1. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat2"><Description>
Latitude of waypoint 2. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon2"><Description>
Longitude of waypoint 2. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat3"><Description>
Latitude of waypoint 3. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon3"><Description>
Longitude of waypoint 3. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat4"><Description>
Latitude of waypoint 4. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon4"><Description>
Longitude of waypoint 4. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat5"><Description>
Latitude of waypoint 5. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon5"><Description>
Longitude of waypoint 5. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat6"><Description>
Latitude of waypoint 6. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon6"><Description>
Longitude of waypoint 6. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat7"><Description>
Latitude of waypoint 7. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon7"><Description>
Longitude of waypoint 7. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Speed"><Description>
Speed while performing the YoYo behavior.
</Description><Units:meter_per_second/><Value>1</Value></DefineArg><DefineArgName="CaptureRadius"><Description>
Speed while performing the YoYo behavior.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="YoYoMinDepth"><Description>
Minimum depth while performing the YoYo behavior.
</Description><Units:meter/><Value>2</Value></DefineArg><DefineArgName="YoYoMaxDepth"><Description>
Maximum depth while performing the YoYo behavior.
</Description><Units:meter/><Value>200</Value></DefineArg><DefineArgName="YoYoMinAltitude"><Description>
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
</Description><Units:meter/><Value>9</Value></DefineArg><DefineArgName="YoYoUpPitch"><Description>
Vehicle up pitch while performing the YoYo behavior.
</Description><Units:degree/><Value>20</Value></DefineArg><DefineArgName="YoYoDownPitch"><Description>
Vehicle down pitch while performing the YoYo behavior.
</Description><Units:degree/><Value>-20</Value></DefineArg><DefineArgName="BuoyancyNeutral"><Description>
Buoyancy bladder position while performing the YoYo behavior. Defaults
to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
for active buoyancy
</Description><Control:VerticalControl.buoyancyNeutral/></DefineArg><DefineArgName="MassDefault"><Description>
Static setting for mass during the mission. Set to NaN mm for active
mass position
</Description><Control:VerticalControl.massDefault/></DefineArg><DefineArgName="MinAltitude"><Description>
Minimum height above the sea floor for the entire mission.
</Description><Units:meter/><Value>5</Value></DefineArg><DefineArgName="MaxDepth"><Description>
Maximum depth for the entire mission.
</Description><Units:meter/><Value>205</Value></DefineArg><DefineArgName="MinOffshore"><Description>
Minimum offshore distance for the entire mission.
</Description><Units:kilometer/><Value>2</Value></DefineArg><TimeoutDuration="MissionTimeout"/><DefineArgName="MicromodemCommsInterval"><Description>
How often to trigger Umodem communications
</Description><Units:minute/><Value>2</Value></DefineArg><InsertFilename="Insert/Science.xml"><Description>
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.
</Description><RedefineArgName="PeakDetectChlActive"><True/></RedefineArg></Insert><InsertFilename="Insert/NeedComms.xml"Id="NeedComms"/><Assign><Sequence/><ArgName="NeedComms:DiveInterval"/><ArgName="NeedCommsTime"/></Assign><InsertFilename="Insert/StandardEnvelopes.xml"/><Assign><Sequence/><ArgName="StandardEnvelopes:MinAltitude"/><ArgName="MinAltitude"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MaxDepth"/><ArgName="MaxDepth"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MinOffshore"/><ArgName="MinOffshore"/></Assign><CallId="StartingMission"RefId="NeedComms"/><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.massPosition/><ArgName="MassDefault"/></Setting></Guidance:Pitch><Guidance:Buoyancy><Parallel/><Setting><Guidance:Buoyancy.position/><ArgName="BuoyancyNeutral"/></Setting></Guidance:Buoyancy><Guidance:SetSpeed><Parallel/><Setting><Guidance:SetSpeed.speed/><ArgName="Speed"/></Setting></Guidance:SetSpeed><Guidance:DepthEnvelope><Description>
Another depth envelope for the YoYo behavior. This envelope should
fall within the limits of the standard safety envelopes in
Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
angles for depth-terminated YoYos.
</Description><Parallel/><Setting><Guidance:DepthEnvelope.minDepth/><ArgName="YoYoMinDepth"/></Setting><Setting><Guidance:DepthEnvelope.maxDepth/><ArgName="YoYoMaxDepth"/></Setting><Setting><Guidance:DepthEnvelope.downPitch/><ArgName="YoYoDownPitch"/></Setting><Setting><Guidance:DepthEnvelope.upPitch/><ArgName="YoYoUpPitch"/></Setting></Guidance:DepthEnvelope><Guidance:AltitudeEnvelope><Description>
Another altitude envelope for the YoYo behavior. This envelope
should fall within the limits of the standard safety envelopes in
Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
angles for bottom-terminated YoYos.
</Description><Parallel/><Setting><Guidance:AltitudeEnvelope.minAltitude/><ArgName="YoYoMinAltitude"/></Setting><Setting><Guidance:AltitudeEnvelope.upPitch/><ArgName="YoYoUpPitch"/></Setting></Guidance:AltitudeEnvelope><Guidance:YoYo><Parallel/><Setting><Guidance:YoYo.downPitch/><ArgName="YoYoDownPitch"/></Setting><Setting><Guidance:YoYo.upPitch/><ArgName="YoYoUpPitch"/></Setting></Guidance:YoYo><AggregateId="Lap"><SequenceRepeat="Repeat"/><InsertFilename="Insert/MicromodemComms.xml"Id="MicromodemComms"><RedefineArgName="CommsInterval"><ArgName="MicromodemCommsInterval"/></RedefineArg></Insert><AggregateId="Wpt1"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat1"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon1"/></Setting><Setting><Guidance:Waypoint.captureRadius/><ArgName="CaptureRadius"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt2"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat2"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon2"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt3"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat3"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon3"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt4"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat4"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon4"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt5"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat5"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon5"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt6"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat6"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon6"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt7"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat7"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon7"/></Setting></Guidance:Waypoint></Aggregate></Aggregate></Mission>