Science/altitudeServo_approach_sampling.xml¶
Mission ID: altitudeServo_approach_sampling
Mission Path: Science/altitudeServo_approach_sampling.xml
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.