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.