Maintenance/calibrate_sparton_compass.tl¶
Mission ID: calibrate_sparton_compass
Mission Path: Maintenance/calibrate_sparton_compass.tl
This mission yoyos in a spiral while calibrating the Sparton AHRS-M2 Micro AHRS/IMU with AdaptCal.
Arguments¶
MissionTimeout¶
MissionTimeout = 60 minute
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications
YoYoMinDepth¶
YoYoMinDepth = 5 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth¶
YoYoMaxDepth = 40 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.
RudderAngle¶
RudderAngle = 13 degree
Rudder angle to use while performing the spiral cast.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
CalibrationInitTimeout¶
CalibrationInitTimeout = 2 minute
Elapsed time allowed for calibration to initialize
MinAltitude¶
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 50 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.