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Science/altitudeServo_approach_sampling.tl

Mission ID: altitudeServo_approach_sampling

Mission Path: Science/altitudeServo_approach_sampling.tl

The vehicle will transit to an initial waypoint, then navigate to waypoints while maintaining altitude and sampling. 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 = 8 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 120 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.

Lat1

Lat1 = NaN degree

Latitude of waypoint 1. If nan, waypoint is skipped.

Lon1

Lon1 = NaN degree

Longitude of waypoint 1. If nan, waypoint is skipped.

Lat2

Lat2 = NaN degree

Latitude of waypoint 2. If nan, waypoint is skipped.

Lon2

Lon2 = NaN degree

Longitude of waypoint 2. If nan, waypoint is skipped.

Lat3

Lat3 = NaN degree

Latitude of waypoint 3. If nan, waypoint is skipped.

Lon3

Lon3 = NaN degree

Longitude of waypoint 3. If nan, waypoint is skipped.

Lat4

Lat4 = NaN degree

Latitude of waypoint 4. If nan, waypoint is skipped.

Lon4

Lon4 = NaN degree

Longitude of waypoint 4. If nan, waypoint is skipped.

Lat5

Lat5 = NaN degree

Latitude of waypoint 5. If nan, waypoint is skipped.

Lon5

Lon5 = NaN degree

Longitude of waypoint 5. If nan, waypoint is skipped.

Lat6

Lat6 = NaN degree

Latitude of waypoint 6. If nan, waypoint is skipped.

Lon6

Lon6 = NaN degree

Longitude of waypoint 6. If nan, waypoint is skipped.

Lat7

Lat7 = NaN degree

Latitude of waypoint 7. If nan, waypoint is skipped.

Lon7

Lon7 = NaN degree

Longitude of waypoint 7. If nan, waypoint is skipped.

Lat8

Lat8 = NaN degree

Latitude of waypoint 8. If nan, waypoint is skipped.

Lon8

Lon8 = NaN degree

Longitude of waypoint 8. If nan, waypoint is skipped.

Lat9

Lat9 = NaN degree

Latitude of waypoint 9. If nan, waypoint is skipped.

Lon9

Lon9 = NaN degree

Longitude of waypoint 9. If nan, waypoint is skipped.

Lat10

Lat10 = NaN degree

Latitude of waypoint 10. If nan, waypoint is skipped.

Lon10

Lon10 = NaN degree

Longitude of waypoint 10. If nan, waypoint is skipped.

Lat11

Lat11 = NaN degree

Latitude of waypoint 11. If nan, waypoint is skipped.

Lon11

Lon11 = NaN degree

Longitude of waypoint 11. If nan, waypoint is skipped.

Lat12

Lat12 = NaN degree

Latitude of waypoint 12. If nan, waypoint is skipped.

Lon12

Lon12 = NaN degree

Longitude of waypoint 12. If nan, waypoint is skipped.

Lat13

Lat13 = NaN degree

Latitude of waypoint 13. If nan, waypoint is skipped.

Lon13

Lon13 = NaN degree

Longitude of waypoint 13. If nan, waypoint is skipped.

Lat14

Lat14 = NaN degree

Latitude of waypoint 14. If nan, waypoint is skipped.

Lon14

Lon14 = NaN degree

Longitude of waypoint 14. If nan, waypoint is skipped.

Lat15

Lat15 = NaN degree

Latitude of waypoint 15. If nan, waypoint is skipped.

Lon15

Lon15 = NaN degree

Longitude of waypoint 15. If nan, waypoint is skipped.

Lat16

Lat16 = NaN degree

Latitude of waypoint 16. If nan, waypoint is skipped.

Lon16

Lon16 = NaN degree

Longitude of waypoint 16. If nan, waypoint is skipped.

Lat17

Lat17 = NaN degree

Latitude of waypoint 17. If nan, waypoint is skipped.

Lon17

Lon17 = NaN degree

Longitude of waypoint 17. If nan, waypoint is skipped.

Lat18

Lat18 = NaN degree

Latitude of waypoint 18. If nan, waypoint is skipped.

Lon18

Lon18 = NaN degree

Longitude of waypoint 18. If nan, waypoint is skipped.

Lat19

Lat19 = NaN degree

Latitude of waypoint 19. If nan, waypoint is skipped.

Lon19

Lon19 = NaN degree

Longitude of waypoint 19. If nan, waypoint is skipped.

Lat20

Lat20 = NaN degree

Latitude of waypoint 20. If nan, waypoint is skipped.

Lon20

Lon20 = NaN degree

Longitude of waypoint 20. If nan, waypoint is skipped.

Lat21

Lat21 = NaN degree

Latitude of waypoint 21. If nan, waypoint is skipped.

Lon21

Lon21 = NaN degree

Longitude of waypoint 21. If nan, waypoint is skipped.

Lat22

Lat22 = NaN degree

Latitude of waypoint 22. If nan, waypoint is skipped.

Lon22

Lon22 = NaN degree

Longitude of waypoint 22. If nan, waypoint is skipped.

Lat23

Lat23 = NaN degree

Latitude of waypoint 23. If nan, waypoint is skipped.

Lon23

Lon23 = NaN degree

Longitude of waypoint 23. If nan, waypoint is skipped.

Lat24

Lat24 = NaN degree

Latitude of waypoint 24. If nan, waypoint is skipped.

Lon24

Lon24 = NaN degree

Longitude of waypoint 24. If nan, waypoint is skipped.

Lat25

Lat25 = NaN degree

Latitude of waypoint 25. If nan, waypoint is skipped.

Lon25

Lon25 = NaN degree

Longitude of waypoint 25. If nan, waypoint is skipped.

Lat26

Lat26 = NaN degree

Latitude of waypoint 26. If nan, waypoint is skipped.

Lon26

Lon26 = NaN degree

Longitude of waypoint 26. If nan, waypoint is skipped.

Lat27

Lat27 = NaN degree

Latitude of waypoint 27. If nan, waypoint is skipped.

Lon27

Lon27 = NaN degree

Longitude of waypoint 27. If nan, waypoint is skipped.

Lat28

Lat28 = NaN degree

Latitude of waypoint 28. If nan, waypoint is skipped.

Lon28

Lon28 = NaN degree

Longitude of waypoint 28. If nan, waypoint is skipped.

Lat29

Lat29 = NaN degree

Latitude of waypoint 29. If nan, waypoint is skipped.

Lon29

Lon29 = NaN degree

Longitude of waypoint 29. If nan, waypoint is skipped.

Lat30

Lat30 = NaN degree

Latitude of waypoint 30. If nan, waypoint is skipped.

Lon30

Lon30 = NaN degree

Longitude of waypoint 30. If nan, waypoint is skipped.

Lat31

Lat31 = NaN degree

Latitude of waypoint 31. If nan, waypoint is skipped.

Lon31

Lon31 = NaN degree

Longitude of waypoint 31. If nan, waypoint is skipped.

Lat32

Lat32 = NaN degree

Latitude of waypoint 32. If nan, waypoint is skipped.

Lon32

Lon32 = NaN degree

Longitude of waypoint 32. If nan, waypoint is skipped.

Lat33

Lat33 = NaN degree

Latitude of waypoint 33. If nan, waypoint is skipped.

Lon33

Lon33 = NaN degree

Longitude of waypoint 33. If nan, waypoint is skipped.

Lat34

Lat34 = NaN degree

Latitude of waypoint 34. If nan, waypoint is skipped.

Lon34

Lon34 = NaN degree

Longitude of waypoint 34. If nan, waypoint is skipped.

Lat35

Lat35 = NaN degree

Latitude of waypoint 35. If nan, waypoint is skipped.

Lon35

Lon35 = NaN degree

Longitude of waypoint 35. If nan, waypoint is skipped.

Lat36

Lat36 = NaN degree

Latitude of waypoint 36. If nan, waypoint is skipped.

Lon36

Lon36 = NaN degree

Longitude of waypoint 36. If nan, waypoint is skipped.

Lat37

Lat37 = NaN degree

Latitude of waypoint 37. If nan, waypoint is skipped.

Lon37

Lon37 = NaN degree

Longitude of waypoint 37. If nan, waypoint is skipped.

Lat38

Lat38 = NaN degree

Latitude of waypoint 38. If nan, waypoint is skipped.

Lon38

Lon38 = NaN degree

Longitude of waypoint 38. If nan, waypoint is skipped.

Lat39

Lat39 = NaN degree

Latitude of waypoint 39. If nan, waypoint is skipped.

Lon39

Lon39 = NaN degree

Longitude of waypoint 39. If nan, waypoint is skipped.

Lat40

Lat40 = NaN degree

Latitude of waypoint 40. If nan, waypoint is skipped.

Lon40

Lon40 = NaN degree

Longitude of waypoint 40. If nan, waypoint is skipped.

Lat41

Lat41 = NaN degree

Latitude of waypoint 41. If nan, waypoint is skipped.

Lon41

Lon41 = NaN degree

Longitude of waypoint 41. If nan, waypoint is skipped.

Lat42

Lat42 = NaN degree

Latitude of waypoint 42. If nan, waypoint is skipped.

Lon42

Lon42 = NaN degree

Longitude of waypoint 42. If nan, waypoint is skipped.

Lat43

Lat43 = NaN degree

Latitude of waypoint 43. If nan, waypoint is skipped.

Lon43

Lon43 = NaN degree

Longitude of waypoint 43. If nan, waypoint is skipped.

Lat44

Lat44 = NaN degree

Latitude of waypoint 44. If nan, waypoint is skipped.

Lon44

Lon44 = NaN degree

Longitude of waypoint 44. If nan, waypoint is skipped.

Lat45

Lat45 = NaN degree

Latitude of waypoint 45. If nan, waypoint is skipped.

Lon45

Lon45 = NaN degree

Longitude of waypoint 45. If nan, waypoint is skipped.

Lat46

Lat46 = NaN degree

Latitude of waypoint 46. If nan, waypoint is skipped.

Lon46

Lon46 = NaN degree

Longitude of waypoint 46. If nan, waypoint is skipped.

Lat47

Lat47 = NaN degree

Latitude of waypoint 47. If nan, waypoint is skipped.

Lon47

Lon47 = NaN degree

Longitude of waypoint 47. If nan, waypoint is skipped.

Lat48

Lat48 = NaN degree

Latitude of waypoint 48. If nan, waypoint is skipped.

Lon48

Lon48 = NaN degree

Longitude of waypoint 48. If nan, waypoint is skipped.

Lat49

Lat49 = NaN degree

Latitude of waypoint 49. If nan, waypoint is skipped.

Lon49

Lon49 = NaN degree

Longitude of waypoint 49. If nan, waypoint is skipped.

Lat50

Lat50 = NaN degree

Latitude of waypoint 50. If nan, waypoint is skipped.

Lon50

Lon50 = NaN degree

Longitude of waypoint 50. If nan, waypoint is skipped.

HoldAltitude

HoldAltitude = 4 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 = 25 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 = 2.5 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 100 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 1 kilometer

Minimum offshore distance for the entire mission.

PowerBackseat

PowerBackseat = 0 bool

Default backseat value for this mission

UseESP

UseESP = Science:ESPComponent.loadAtStartup

Whether to use ESP to sample.

ESPCartridgeType

ESPCartridgeType = NaN count

Specifies ESP cartridge type code.

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.

Inserts

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Insert/Science.tl

Insert/BackseatDriver.tl

Insert/PowerOnly.tl

Invoked Module Behaviors

Guidance:AltitudeServo

Guidance:Buoyancy

Guidance:Mass

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Waypoint

Science:ESPCartridgeSelect