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Science/mbts_sci2.tl

Mission ID: mbts_sci2

Mission Path: Science/mbts_sci2.tl

This mission is basically Science/sci2 with 5 pre-established waypoints in the order: C1 - M1 - M2 - M1 - C1, but also with ability to (re)start the mission at any point just adjusting the leg parameter as needed.

Arguments

MissionTimeout

MissionTimeout = 48 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

How often to surface for communications

leg

leg = 1 count

Denotes Which leg to start at. By default, this is 1 meaning the complete sequence: C1 - M1 - M2 - M1 - C1. Valid values are 1–5, with the following effect: 1: C1 - M1 - M2 - M1 - C1; 2: M1 - M2 - M1 - C1; 3: M2 - M1 - C1; 4: M1 - C1; 5: C1.

Lat1

Lat1 = 36.797 degree

Do not need to change this (used internally). Latitude of waypoint 1.

Lon1

Lon1 = -121.847 degree

Do not need to change this (used internally). Longitude of waypoint 1.

Lat2

Lat2 = 36.75 degree

Do not need to change this (used internally). Latitude of waypoint 2.

Lon2

Lon2 = -122.022 degree

Do not need to change this (used internally). Longitude of waypoint 2.

Lat3

Lat3 = 36.691 degree

Do not need to change this (used internally). Latitude of waypoint 3.

Lon3

Lon3 = -122.376 degree

Do not need to change this (used internally). Longitude of waypoint 3.

Lat4

Lat4 = 36.75 degree

Do not need to change this (used internally). Latitude of waypoint 4.

Lon4

Lon4 = -122.022 degree

Do not need to change this (used internally). Longitude of waypoint 4.

Lat5

Lat5 = 36.797 degree

Do not need to change this (used internally). Latitude of waypoint 5.

Lon5

Lon5 = -121.847 degree

Do not need to change this (used internally). Longitude of waypoint 5.

Speed

Speed = 1 meter_per_second

Speed while performing the YoYo behavior.

PowerBackseat

PowerBackseat = false

Turns on the backseat payload.

YoYoMinDepth

YoYoMinDepth = 2 meter

Minimum depth while performing the YoYo behavior.

YoYoMaxDepth1

YoYoMaxDepth1 = 40 meter

Maximum depth #1 while performing the YoYo behavior.

YoYoMaxDepth2

YoYoMaxDepth2 = 100 meter

Maximum depth #2 while performing the YoYo behavior.

YoYoMaxDepth3

YoYoMaxDepth3 = 200 meter

Maximum depth #3 while performing the YoYo behavior.

YoYoMaxDepth4

YoYoMaxDepth4 = 200 meter

Maximum depth #4 while performing the YoYo behavior.

YoYoMaxDepth5

YoYoMaxDepth5 = 100 meter

Maximum depth #5 while performing the YoYo behavior.

YoYoMinAltitude

YoYoMinAltitude = 9 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

YoYoUpPitch

YoYoUpPitch = 20 degree

Vehicle up pitch while performing the YoYo behavior.

YoYoDownPitch

YoYoDownPitch = -20 degree

Vehicle down pitch while performing the YoYo behavior.

BuoyancyNeutral

BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy

MassDefault

MassDefault = Control:VerticalControl.massDefault

Static setting for mass during the mission. Set to NaN mm for active mass position

MinAltitude

MinAltitude = 5 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 205 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.

redefineArg PeakDetectChlActive = true

Insert/BackseatDriver.tl

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo