Science/altitudeServo_approach_backseat_poweronly_blockisland.tl¶
Mission ID: altitudeServo_approach_backseat_poweronly_blockisland
Mission Path: Science/altitudeServo_approach_backseat_poweronly_blockisland.tl
The vehicle will transit to an initial waypoint, then navigate to waypoints while maintaining altitude. During the altitude following phase of the mission, the vehicle descends from the surface to a commanded depth using a spiral dive (e.g., after NeedComms).
Arguments¶
MissionTimeout¶
MissionTimeout = 12 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 180 minute
How often to surface for commumications
TransitLat¶
TransitLat = NaN degree
Latitude of tranist waypoint. Transit is skipped if set to NaN.
TransitLon¶
TransitLon = NaN degree
Longitude of tranist waypoint. Transit is skipped if set to NaN.
TransitDepth¶
TransitDepth = 10 meter
Depth of flat and level flight during the transit part of the mission.
ApproachDepthRate¶
ApproachDepthRate = 0.025 meter_per_second
Descent depth rate (Positive depth rate means going down).
Repeat¶
Repeat = 1 count
Number of times the vehicle should try to cycle through waypoints.
Lon1¶
Lon1 = -71.40734 degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Lat1¶
Lat1 = 40.99866 degree
Latitude of waypoint 1. If nan, waypoint is skipped.
Lon2¶
Lon2 = -71.41768 degree
Longitude of waypoint 2. If nan, waypoint is skipped.
Lat2¶
Lat2 = 40.95438 degree
Latitude of waypoint 2. If nan, waypoint is skipped.
Lon3¶
Lon3 = -71.42003 degree
Longitude of waypoint 3. If nan, waypoint is skipped.
Lat3¶
Lat3 = 40.95469 degree
Latitude of waypoint 3. If nan, waypoint is skipped.
Lon4¶
Lon4 = -71.40968 degree
Longitude of waypoint 4. If nan, waypoint is skipped.
Lat4¶
Lat4 = 40.99897 degree
Latitude of waypoint 4. If nan, waypoint is skipped.
Lon5¶
Lon5 = -71.41203 degree
Longitude of waypoint 5. If nan, waypoint is skipped.
Lat5¶
Lat5 = 40.99928 degree
Latitude of waypoint 5. If nan, waypoint is skipped.
Lon6¶
Lon6 = -71.42237 degree
Longitude of waypoint 6. If nan, waypoint is skipped.
Lat6¶
Lat6 = 40.955 degree
Latitude of waypoint 6. If nan, waypoint is skipped.
Lon7¶
Lon7 = -71.42472 degree
Longitude of waypoint 7. If nan, waypoint is skipped.
Lat7¶
Lat7 = 40.95531 degree
Latitude of waypoint 7. If nan, waypoint is skipped.
Lon8¶
Lon8 = -71.41437 degree
Longitude of waypoint 8. If nan, waypoint is skipped.
Lat8¶
Lat8 = 40.99959 degree
Latitude of waypoint 8. If nan, waypoint is skipped.
Lon9¶
Lon9 = -71.41672 degree
Longitude of waypoint 9. If nan, waypoint is skipped.
Lat9¶
Lat9 = 40.9999 degree
Latitude of waypoint 9. If nan, waypoint is skipped.
Lon10¶
Lon10 = -71.42706 degree
Longitude of waypoint 10. If nan, waypoint is skipped.
Lat10¶
Lat10 = 40.95562 degree
Latitude of waypoint 10. If nan, waypoint is skipped.
Lon11¶
Lon11 = -71.42941 degree
Longitude of waypoint 11. If nan, waypoint is skipped.
Lat11¶
Lat11 = 40.95593 degree
Latitude of waypoint 11. If nan, waypoint is skipped.
Lon12¶
Lon12 = -71.41906 degree
Longitude of waypoint 12. If nan, waypoint is skipped.
Lat12¶
Lat12 = 41.00021 degree
Latitude of waypoint 12. If nan, waypoint is skipped.
Lon13¶
Lon13 = -71.42141 degree
Longitude of waypoint 13. If nan, waypoint is skipped.
Lat13¶
Lat13 = 41.00052 degree
Latitude of waypoint 13. If nan, waypoint is skipped.
Lon14¶
Lon14 = -71.43175 degree
Longitude of waypoint 14. If nan, waypoint is skipped.
Lat14¶
Lat14 = 40.95624 degree
Latitude of waypoint 14. If nan, waypoint is skipped.
Lon15¶
Lon15 = -71.4341 degree
Longitude of waypoint 15. If nan, waypoint is skipped.
Lat15¶
Lat15 = 40.95655 degree
Latitude of waypoint 15. If nan, waypoint is skipped.
Lon16¶
Lon16 = -71.42375 degree
Longitude of waypoint 16. If nan, waypoint is skipped.
Lat16¶
Lat16 = 41.00083 degree
Latitude of waypoint 16. If nan, waypoint is skipped.
Lon17¶
Lon17 = -71.4261 degree
Longitude of waypoint 17. If nan, waypoint is skipped.
Lat17¶
Lat17 = 41.00114 degree
Latitude of waypoint 17. If nan, waypoint is skipped.
Lon18¶
Lon18 = -71.43644 degree
Longitude of waypoint 18. If nan, waypoint is skipped.
Lat18¶
Lat18 = 40.95686 degree
Latitude of waypoint 18. If nan, waypoint is skipped.
Lon19¶
Lon19 = -71.43879 degree
Longitude of waypoint 19. If nan, waypoint is skipped.
Lat19¶
Lat19 = 40.95717 degree
Latitude of waypoint 19. If nan, waypoint is skipped.
Lon20¶
Lon20 = -71.42844 degree
Longitude of waypoint 20. If nan, waypoint is skipped.
Lat20¶
Lat20 = 41.00145 degree
Latitude of waypoint 20. If nan, waypoint is skipped.
Lon21¶
Lon21 = -71.43079 degree
Longitude of waypoint 21. If nan, waypoint is skipped.
Lat21¶
Lat21 = 41.00176 degree
Latitude of waypoint 21. If nan, waypoint is skipped.
Lon22¶
Lon22 = -71.44113 degree
Longitude of waypoint 22. If nan, waypoint is skipped.
Lat22¶
Lat22 = 40.95748 degree
Latitude of waypoint 22. If nan, waypoint is skipped.
Lon23¶
Lon23 = -71.44348 degree
Longitude of waypoint 23. If nan, waypoint is skipped.
Lat23¶
Lat23 = 40.95779 degree
Latitude of waypoint 23. If nan, waypoint is skipped.
Lon24¶
Lon24 = -71.43313 degree
Longitude of waypoint 24. If nan, waypoint is skipped.
Lat24¶
Lat24 = 41.00207 degree
Latitude of waypoint 24. If nan, waypoint is skipped.
Lon25¶
Lon25 = -71.43548 degree
Longitude of waypoint 25. If nan, waypoint is skipped.
Lat25¶
Lat25 = 41.00238 degree
Latitude of waypoint 25. If nan, waypoint is skipped.
Lon26¶
Lon26 = -71.44582 degree
Longitude of waypoint 26. If nan, waypoint is skipped.
Lat26¶
Lat26 = 40.9581 degree
Latitude of waypoint 26. If nan, waypoint is skipped.
Lon27¶
Lon27 = -71.44817 degree
Longitude of waypoint 27. If nan, waypoint is skipped.
Lat27¶
Lat27 = 40.95841 degree
Latitude of waypoint 27. If nan, waypoint is skipped.
Lon28¶
Lon28 = -71.43782 degree
Longitude of waypoint 28. If nan, waypoint is skipped.
Lat28¶
Lat28 = 41.00269 degree
Latitude of waypoint 28. If nan, waypoint is skipped.
Lon29¶
Lon29 = -71.44017 degree
Longitude of waypoint 29. If nan, waypoint is skipped.
Lat29¶
Lat29 = 41.003 degree
Latitude of waypoint 29. If nan, waypoint is skipped.
Lon30¶
Lon30 = -71.45051 degree
Longitude of waypoint 30. If nan, waypoint is skipped.
Lat30¶
Lat30 = 40.95872 degree
Latitude of waypoint 30. If nan, waypoint is skipped.
Lon31¶
Lon31 = -71.45286 degree
Longitude of waypoint 31. If nan, waypoint is skipped.
Lat31¶
Lat31 = 40.95903 degree
Latitude of waypoint 31. If nan, waypoint is skipped.
Lon32¶
Lon32 = -71.44251 degree
Longitude of waypoint 32. If nan, waypoint is skipped.
Lat32¶
Lat32 = 41.00331 degree
Latitude of waypoint 32. If nan, waypoint is skipped.
Lon33¶
Lon33 = -71.44486 degree
Longitude of waypoint 33. If nan, waypoint is skipped.
Lat33¶
Lat33 = 41.00362 degree
Latitude of waypoint 33. If nan, waypoint is skipped.
Lon34¶
Lon34 = -71.4552 degree
Longitude of waypoint 34. If nan, waypoint is skipped.
Lat34¶
Lat34 = 40.95934 degree
Latitude of waypoint 34. If nan, waypoint is skipped.
Lon35¶
Lon35 = -71.45755 degree
Longitude of waypoint 35. If nan, waypoint is skipped.
Lat35¶
Lat35 = 40.95965 degree
Latitude of waypoint 35. If nan, waypoint is skipped.
Lon36¶
Lon36 = -71.4472 degree
Longitude of waypoint 36. If nan, waypoint is skipped.
Lat36¶
Lat36 = 41.00393 degree
Latitude of waypoint 36. If nan, waypoint is skipped.
Lon37¶
Lon37 = -71.44955 degree
Longitude of waypoint 37. If nan, waypoint is skipped.
Lat37¶
Lat37 = 41.00424 degree
Latitude of waypoint 37. If nan, waypoint is skipped.
Lon38¶
Lon38 = -71.45989 degree
Longitude of waypoint 38. If nan, waypoint is skipped.
Lat38¶
Lat38 = 40.95996 degree
Latitude of waypoint 38. If nan, waypoint is skipped.
Lon39¶
Lon39 = -71.46224 degree
Longitude of waypoint 39. If nan, waypoint is skipped.
Lat39¶
Lat39 = 40.96027 degree
Latitude of waypoint 39. If nan, waypoint is skipped.
Lon40¶
Lon40 = -71.45189 degree
Longitude of waypoint 40. If nan, waypoint is skipped.
Lat40¶
Lat40 = 41.00455 degree
Latitude of waypoint 40. If nan, waypoint is skipped.
Lon41¶
Lon41 = -71.45424 degree
Longitude of waypoint 41. If nan, waypoint is skipped.
Lat41¶
Lat41 = 41.00486 degree
Latitude of waypoint 41. If nan, waypoint is skipped.
Lon42¶
Lon42 = -71.46458 degree
Longitude of waypoint 42. If nan, waypoint is skipped.
Lat42¶
Lat42 = 40.96058 degree
Latitude of waypoint 42. If nan, waypoint is skipped.
Lon43¶
Lon43 = -71.46693 degree
Longitude of waypoint 43. If nan, waypoint is skipped.
Lat43¶
Lat43 = 40.96089 degree
Latitude of waypoint 43. If nan, waypoint is skipped.
Lon44¶
Lon44 = -71.45658 degree
Longitude of waypoint 44. If nan, waypoint is skipped.
Lat44¶
Lat44 = 41.00517 degree
Latitude of waypoint 44. If nan, waypoint is skipped.
Lon45¶
Lon45 = -71.45893 degree
Longitude of waypoint 45. If nan, waypoint is skipped.
Lat45¶
Lat45 = 41.00548 degree
Latitude of waypoint 45. If nan, waypoint is skipped.
Lon46¶
Lon46 = -71.46927 degree
Longitude of waypoint 46. If nan, waypoint is skipped.
Lat46¶
Lat46 = 40.9612 degree
Latitude of waypoint 46. If nan, waypoint is skipped.
Lon47¶
Lon47 = -71.47162 degree
Longitude of waypoint 47. If nan, waypoint is skipped.
Lat47¶
Lat47 = 40.96151 degree
Latitude of waypoint 47. If nan, waypoint is skipped.
Lon48¶
Lon48 = -71.46127 degree
Longitude of waypoint 48. If nan, waypoint is skipped.
Lat48¶
Lat48 = 41.00579 degree
Latitude of waypoint 48. If nan, waypoint is skipped.
Lon49¶
Lon49 = -71.46362 degree
Longitude of waypoint 49. If nan, waypoint is skipped.
Lat49¶
Lat49 = 41.0061 degree
Latitude of waypoint 49. If nan, waypoint is skipped.
Lon50¶
Lon50 = -71.47396 degree
Longitude of waypoint 50. If nan, waypoint is skipped.
Lat50¶
Lat50 = 40.96182 degree
Latitude of waypoint 50. If nan, waypoint is skipped.
HoldAltitude¶
HoldAltitude = 2.2 meter
Desired vehicle altitude to maintain.
InvalidAltitudeTimeout¶
InvalidAltitudeTimeout = NaN minute
The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality.
AltitudeIIRFilterDecay¶
AltitudeIIRFilterDecay = 0.2 none
AltitudeServo single-pole IIR filter decay value. Low-pass filters the AltitudeServo depth command. The Decay value should be btween 0 to 1, set to 0 disable filtering.
InitDepth¶
InitDepth = 50 meter
Initial depth. The vehicle will spiral dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range).
InitDepthTimeout¶
InitDepthTimeout = 45 minute
Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired.
Speed¶
Speed = 1 meter_per_second
Thruster speed for the entier mission.
DepthDeadband¶
DepthDeadband = 0.0 meter
MinAltitude¶
MinAltitude = 1.2 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 1 kilometer
Minimum offshore distance for the entire mission.
PowerBackseat¶
PowerBackseat = 1 bool
Enable the backseat for this mission
Output¶
DoingComms¶
DoingComms = false
Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms.
StartFromSurface¶
StartFromSurface = true
Mission variable (don't change). The mission sets this to true after the vehicle surfaces for comms.