This mission yoyos in a circle around a specified location.
MissionTimeout = 4 hour
Maximum duration of mission
NeedCommsTime = 60 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications
Lat = 36.806966 degree
The latitude of the center of the circle.
Lon = -121.824326 degree
The longitude of the center of the circle.
Radius = 300 meter
Radius to circle at
YoYoMinDepth = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth = 200 meter
Maximum depth while performing the YoYo behavior.
YoYoMinAltitude = 7 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
YoYoPitch = 20 degree
Pitch (plus and minus) for yo-yo behavior.
Speed = 1 meter_per_second
CircleMaxError = 100 meter
If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.
CircleTurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
KwpHeading = 0.010 radian_per_meter
Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
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