Science/profile_station_slowyo.tl¶
Mission ID: profile_station_slowyo
Mission Path: Science/profile_station_slowyo.tl
This mission yo-yos in a circle around a specified location, with soft transitions between yos.
Arguments¶
MissionTimeout¶
MissionTimeout = 4 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications
NeedCommsSurfaceDepthRate¶
NeedCommsSurfaceDepthRate = 0.3 meter_per_second
How quickly to ascend for comms
Lat¶
Lat = 36.7948 degree
The latitude of the center of the circle.
Lon¶
Lon = -121.8726 degree
The longitude of the center of the circle.
Radius¶
Radius = 300 meter
Radius to circle at
ApproachDepthTimeout¶
ApproachDepthTimeout = 15 minute
Maximum time duration for the vehicle to reach the target depth
SlowYoDiveAngle¶
SlowYoDiveAngle = 15 degree
Dive Angle while performing SlowYo
SlowYoMinDepth¶
SlowYoMinDepth = 10 meter
Minimum depth while performing the SlowYo behavior.
SlowYoMaxDepth¶
SlowYoMaxDepth = 40 meter
Maximum depth while performing the SlowYo behavior.
SlowYoTurningWindow¶
SlowYoTurningWindow = 10 meter
Distance from min or max depth to start a smooth transition
SlowYoPitchDeadband¶
SlowYoPitchDeadband = 3 degree
Once the vehicle reaches the SlowYo pitch command, pitch errors within this angle are ignored.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
SinkOffSurface¶
SinkOffSurface = false
If true, use buoyancy only to decend to SinkDepth before driving to first target depth
SinkDepth¶
SinkDepth = 5 meter
Initial depth to decend using only buoyancy before driving
SinkDepthTimeout¶
SinkDepthTimeout = 10 minute
Max wait time for the vehicle to reach the target depth
CircleMaxError¶
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¶
CircleTurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
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
ElevatorDefault¶
ElevatorDefault = 0 degree
Shuts off the elevators.
MassDefault¶
MassDefault = Control:VerticalControl.massDefault
Static setting for mass during the mission. Set to NaN mm for active mass position.
KwpHeading¶
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¶
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 220 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
Output¶
DiveMode¶
DiveMode = 0 count
Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms.
DoingComms¶
DoingComms = 0 count
Mission variable (don't change). The mission will run in this mode when doing surface comms.
SurfaceSink¶
SurfaceSink = 1 count
Mission variable (don't change). The mission will run in this mode when sinking from the surface using only buoyancy.
InitialDive¶
InitialDive = 2 count
Mission variable (don't change). The mission will run in this mode to reach the slowyo minimum depth from surface, before starting the yos.
SlowYo¶
SlowYo = 3 count
Mission variable (don't change). The mission will run in this mode when performing the profile.
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