Science/sci2_i2map.tl¶
Mission ID: sci2_i2map
Mission Path: Science/sci2_i2map.tl
Vehicle spirals down and 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 = 2 hour
How often to surface for commumications
Depth1¶
Depth1 = 25 meter
Depth of flat and level flight during the mission for leg 1-7
Depth2¶
Depth2 = 50 meter
Depth of flat and level flight during the mission for leg 1-7
Depth3¶
Depth3 = 100 meter
Depth of flat and level flight during the mission for leg 1-7
Depth4¶
Depth4 = 150 meter
Depth of flat and level flight during the mission for leg 1-7
Depth5¶
Depth5 = 200 meter
Depth of flat and level flight during the mission for leg 1-7
Depth6¶
Depth6 = 250 meter
Depth of flat and level flight during the mission for leg 1-7
Depth7¶
Depth7 = 280 meter
Depth of flat and level flight during the mission for leg 1-7
Repeat¶
Repeat = 1 count
Number of times the vehicle should try to cycle through waypoints and depths. By default, one run of all waypoints at all target depths is one repetition. Set DepthPerLeg to true to change depths between waypoints instead.
DepthPerLeg¶
DepthPerLeg = false
Indicates whether additional depths correspond to laps (cycle through all waypoints at each depth, default) or legs (use depth for transit leg ending at corresponding waypoint, each lap repeats all depths and waypoints). Note: cannot use depths 7-10 in depth-per-leg mode (yes, it's weird, sorry)
Lat1¶
Lat1 = 36.69599 degree
Latitude of waypoint 1 and 2. If nan, waypoint is skipped.
Lon1¶
Lon1 = -122.04693 degree
Longitude of waypoint 1 and 2. If nan, waypoint is skipped.
Lat2¶
Lat2 = 36.69520 degree
Latitude of waypoint 1 and 2. If nan, waypoint is skipped.
Lon2¶
Lon2 = -122.05061 degree
Longitude of waypoint 1 and 2. If nan, waypoint is skipped.
Speed¶
Speed = 1 meter_per_second
Speed while transiting to waypoints. Used as starting speed if RollOptimizeSpeed is true.
RollOptimizeSpeed¶
RollOptimizeSpeed = false
If true, optimize speed based on roll angle.
TargetRollAngle¶
TargetRollAngle = 0 degree
Target roll angle for roll speed optimization.
RollError¶
RollError = 2 degree
Error tolerance for roll angle during speed optimization.
MaxRollSpeed¶
MaxRollSpeed = 1.1 meter_per_second
Maximum speed for roll speed optimization.
MinRollSpeed¶
MinRollSpeed = 0.6 meter_per_second
Minimum speed for roll speed optimization.
RollWindowLen¶
RollWindowLen = 5 minute
Time window for roll speed optimization.
RollInitStep¶
RollInitStep = 0.1 degree
Initial step size for roll speed optimization.
RollMinStep¶
RollMinStep = 0.025 degree
Minimum step size for roll speed optimization.
RollVerbose¶
RollVerbose = true
Enable verbose logging for roll speed optimization.
ApproachDepthTimeout¶
ApproachDepthTimeout = 15 minute
Maximum time duration for the vehicle to reach the 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 = 300 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.
SpiralDive¶
SpiralDive = 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.
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 = Depth[1]
Dives¶
Dives = 0 count
Inserts¶
Insert/Science.tl¶
Run the science sensors.