This mission yoyos in a spiral while calibrating the Sparton AHRS-M2 Micro AHRS/IMU with AdaptCal.
MissionTimeout = 60 minute
Maximum duration of mission
NeedCommsTime = 60 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications
YoYoMinDepth = 5 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth = 40 meter
Maximum depth while performing the YoYo behavior.
YoYoMinAltitude = 7 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
YoYoPitch = 20 degree
Pitch (plus and minus) for yo-yo behavior.
RudderAngle = 13 degree
Rudder angle to use while performing the spiral cast.
Speed = 1 meter_per_second
CalibrationInitTimeout = 2 minute
Elapsed time allowed for calibration to initialize
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth = 50 meter
Maximum depth for the entire mission.
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
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.