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# `Science/sci2_flat_and_level.tl`¶

Mission ID: `sci2_flat_and_level`

Mission Path: `Science/sci2_flat_and_level.tl`

Vehicle transits to the specified waypoints at the commanded depth (flat-and-level) with science turned on.

## Arguments¶

### MissionTimeout¶

``````MissionTimeout = 2 hour
``````

Maximum duration of mission

### NeedCommsTime¶

``````NeedCommsTime = 60 minute
``````

How often to surface for commumications

### Depth1¶

``````Depth1 = 3 meter
``````

Depth of flat and level flight during the mission for the transit of the waypoints

### Depth2¶

``````Depth2 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Depth3¶

``````Depth3 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Depth4¶

``````Depth4 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Depth5¶

``````Depth5 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Depth6¶

``````Depth6 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Depth7¶

``````Depth7 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Depth8¶

``````Depth8 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Depth9¶

``````Depth9 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Depth10¶

``````Depth10 = NaN meter
``````

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

### Repeat¶

``````Repeat = 1 count
``````

Number of times the vehicle should try to cycle through waypoints and depths. One run of all waypoints at all target depths is one repetition.

### 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 1. If nan, waypoint is skipped.

### Lon2¶

``````Lon2 = NaN degree
``````

Longitude of waypoint 1. If nan, waypoint is skipped.

### Lat3¶

``````Lat3 = NaN degree
``````

Latitude of waypoint 1. If nan, waypoint is skipped.

### Lon3¶

``````Lon3 = NaN degree
``````

Longitude of waypoint 1. If nan, waypoint is skipped.

### Lat4¶

``````Lat4 = NaN degree
``````

Latitude of waypoint 1. If nan, waypoint is skipped.

### Lon4¶

``````Lon4 = NaN degree
``````

Longitude of waypoint 1. If nan, waypoint is skipped.

### Lat5¶

``````Lat5 = NaN degree
``````

Latitude of waypoint 1. If nan, waypoint is skipped.

### Lon5¶

``````Lon5 = NaN degree
``````

Longitude of waypoint 1. If nan, waypoint is skipped.

### Lat6¶

``````Lat6 = NaN degree
``````

Latitude of waypoint 1. If nan, waypoint is skipped.

### Lon6¶

``````Lon6 = NaN degree
``````

Longitude of waypoint 1. If nan, waypoint is skipped.

### Lat7¶

``````Lat7 = NaN degree
``````

Latitude of waypoint 1. If nan, waypoint is skipped.

### Lon7¶

``````Lon7 = NaN degree
``````

Longitude of waypoint 1. If nan, waypoint is skipped.

### Speed¶

``````Speed = 1 meter_per_second
``````

Speed while transiting to waypoints.

### ApproachDepth¶

``````ApproachDepth = 2 meter
``````

Depth for initial descent form the surface.

### ApproachSpeed¶

``````ApproachSpeed = 0.7 meter_per_second
``````

Speed while descending to target depth.

### ApproachDepthRate¶

``````ApproachDepthRate = 0.05 meter_per_second
``````

Descent depth rate (Positive depth rate means going down).

### ApproachPitchLimit¶

``````ApproachPitchLimit = 20 degree
``````

Max vehicle pitch (+/-) when decending from the surface.

### ApproachDepthTimeout¶

``````ApproachDepthTimeout = 15 minute
``````

Maximum time duration for the vehicle to reach the target depth

### ApproachSettleTimePreDive¶

``````ApproachSettleTimePreDive = 1 minute
``````

Time duration for the vehicle to pump down the VBS BEFORE leaving the surface.

### ApproachSettleTimePostDive¶

``````ApproachSettleTimePostDive = 3 minute
``````

Time duration for the vehicle to settle AFTER reaching the target depth.

### kpDepth¶

``````kpDepth = 0.07 radian_per_meter
``````

Dive loop proportional gain (applied only while the vehicle is descending to target depth).

### BuoyancyNeutral¶

``````BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
``````

Buoyancy bladder position during the mission. 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 = 2 meter
``````

Minimum height above the sea floor for the entire mission.

### MaxDepth¶

``````MaxDepth = 15 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 to mode when doing surface comms.

### InitialDive¶

``````InitialDive = 1 count
``````

Mission variable (don't change). The mission will run in this mode after surface comms are done to dive the vehicle to the approach depth.

### SettleAtDepth¶

``````SettleAtDepth = 2 count
``````

Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth.

### MaintainDepth¶

``````MaintainDepth = 3 count
``````

Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth.

### LegDepth¶

``````LegDepth = Depth1
``````

## Inserts¶

### `Insert/Science.tl`¶

Run the science sensors.