Science/mbts_sci2.xml¶
Mission ID: mbts_sci2
Mission Path: Science/mbts_sci2.xml
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 within this trajectory, 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 commumications
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 the 5 waypoints.
Lat2¶
Lat2 = 36.75 degree
Do not need to change this (used internally). Latitude of the 5 waypoints.
Lat3¶
Lat3 = 36.691 degree
Do not need to change this (used internally). Latitude of the 5 waypoints.
Lat4¶
Lat4 = 36.75 degree
Do not need to change this (used internally). Latitude of the 5 waypoints.
Lat5¶
Lat5 = 36.797 degree
Do not need to change this (used internally). Latitude of the 5 waypoints.
Lon1¶
Lon1 = -121.847 degree
Do not need to change this (used internally). Longitude of the 5 waypoints.
Lon2¶
Lon2 = -122.022 degree
Do not need to change this (used internally). Longitude of the 5 waypoints.
Lon3¶
Lon3 = -122.376 degree
Do not need to change this (used internally). Longitude of the 5 waypoints.
Lon4¶
Lon4 = -122.022 degree
Do not need to change this (used internally). Longitude of the 5 waypoints.
Lon5¶
Lon5 = -121.847 degree
Do not need to change this (used internally). Longitude of the 5 waypoints.
Speed¶
Speed = 1 meter_per_second
Speed while performing the YoYo behavior.
CaptureRadius¶
CaptureRadius = NaN meter
Speed while performing the YoYo behavior.
YoYoMinDepth¶
YoYoMinDepth = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth1¶
YoYoMaxDepth1 = 40 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth2¶
YoYoMaxDepth2 = 100 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth3¶
YoYoMaxDepth3 = 200 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth4¶
YoYoMaxDepth4 = 200 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth5¶
YoYoMaxDepth5 = 100 meter
Maximum depth 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.xml¶
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