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Science/sci2.tl

Mission ID: sci2

Mission Path: Science/sci2.tl

Vehicle yo-yo's to the specified waypoints, with science turned on.

Arguments

MissionTimeout

MissionTimeout = 2 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

How often to surface for communications

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.

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.

YoYoMaxDepth

YoYoMaxDepth = 200 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.

YoYoLightTerminate

YoYoLightTerminate = false

Set true to terminate dive once PAR value falls below threshold.

YoYoLightTerminateThreshold

YoYoLightTerminateThreshold = 0.1 micromole_per_second_per_square_meter

Threshold of PAR output at which pitch command will flip positive if vehicle is pitched down.

PeakDetectChl

PeakDetectChl = false

Whether to enable peak chl detection on each yo-yo profile

ShallowBoundChl

ShallowBoundChl = NaN meter

Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection

DeepBoundChl

DeepBoundChl = NaN meter

Used only when PeakDetectChl is true. Deep depth bound for peak chl detection

ChlThreshTrigger

ChlThreshTrigger = false

Whether to enable chl threshold triggering

ChlLowerThreshold

ChlLowerThreshold = NaN microgram_per_liter

Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.

ChlUpperThreshold

ChlUpperThreshold = NaN microgram_per_liter

Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.

NumProfilesThreshold

NumProfilesThreshold = 5 count

Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.

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 = PeakDetectChl
redefineArg PeakShallowBound = ShallowBoundChl
redefineArg PeakDeepBound = DeepBoundChl
redefineArg ChlThreshTriggerActive = ChlThreshTrigger
redefineArg ChlLowerThresh = ChlLowerThreshold
redefineArg ChlUpperThresh = ChlUpperThreshold
redefineArg NumProfilesThresh = NumProfilesThreshold

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/BackseatDriver.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:SetSpeed

Guidance:Waypoint

Guidance:YoYo