Science/sci2_i2map_deep.tl¶
Mission ID: sci2_i2map_deep
Mission Path: Science/sci2_i2map_deep.tl
Deep variant of sci2_i2map. Vehicle spirals down to the deepest commanded depth and transits to the specified waypoints at the commanded depth (flat-and-level) with science turned on, then works its way from deep to shallow through the remaining depths.
The initial descent to Depth[1] is flown steeply (see InitialDivePitch) to keep the dive close to the waypoint box; the shallower depth changes use the vehicle's configured pitch limit.
Arguments¶
MissionTimeout¶
MissionTimeout = 7 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 7 hour
How often to surface for commumications
Depth1¶
Depth1 = 950 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth2¶
Depth2 = 900 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth3¶
Depth3 = 850 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth4¶
Depth4 = 800 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth5¶
Depth5 = 750 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth6¶
Depth6 = 700 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth7¶
Depth7 = 650 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth8¶
Depth8 = 600 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth9¶
Depth9 = 550 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth10¶
Depth10 = 500 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth11¶
Depth11 = 450 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth12¶
Depth12 = 400 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth13¶
Depth13 = 350 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth14¶
Depth14 = 300 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth15¶
Depth15 = 250 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth16¶
Depth16 = 200 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth17¶
Depth17 = 150 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth18¶
Depth18 = 100 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth19¶
Depth19 = 50 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
Depth20¶
Depth20 = 25 meter
Depth of flat and level flight during the mission for leg 1-20. Ordered deep to shallow.
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.
DepthPerLeg¶
DepthPerLeg = false
Indicates whether additional depths correspond to laps (cycle through all waypoints at each depth, default) or legs. Note: depth-per-leg mode is not implemented in this mission. Setting this true skips the survey entirely and the vehicle will only do comms. Leave it false.
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.
InitialDivePitch¶
InitialDivePitch = 60 degree
Max vehicle pitch (+/-) during the initial descent to Depth[1]. Raises Control:VerticalControl.pitchLimit for the initial dive only; it reverts to the Config/Control.cfg value for the shallower depth changes.
InitialDiveRate¶
InitialDiveRate = 0.87 meter_per_second
Max dive rate during the initial descent to Depth[1]. Raises Control:VerticalControl.maxDiveRate for the initial dive only. This must be set alongside InitialDivePitch: the commanded depth rate is what actually drives vehicle pitch in depth mode, so leaving this at the config default (0.4 m/s) would hold the dive near 24 degrees no matter how high the pitch limit is. Set to Speed * sin(InitialDivePitch).
InitialDiveTimeout¶
InitialDiveTimeout = 45 minute
Maximum time duration for the vehicle to reach Depth[1] from the surface. Sized from simulation: the vehicle does hold InitialDivePitch (60 deg nose-down, measured), but flies a much shallower flight path than that attitude implies -- about 31 deg, i.e. roughly 29 deg angle of attack. Speed stays near 1 m/s, so the achieved descent rate is 1.0 * sin(31 deg) = about 0.5 m/s, not sin(60 deg). 950 m therefore takes ~32 minutes measured; 45 minutes leaves ~40 percent margin. A 30 minute timeout expires at about 850 m and its handler stops the mission.
ApproachDepthTimeout¶
ApproachDepthTimeout = 15 minute
Maximum time duration for the vehicle to reach the target depth when changing depth between transects.
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 = 1000 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.