Science/sci2_noyo_optim.tl¶
Mission ID: sci2_noyo_optim
Mission Path: Science/sci2_noyo_optim.tl
Vehicle transits to the specified waypoints at the commanded depth (flat-and-level, no yoyos) with science, Optim camera, and multiray lights on.
By default, camera and lights will activate automatically when the vehicle reaches its target depth and will turn off when the vehicle surfaces for communications.
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
How often to surface for commumications
Depth1¶
Depth1 = 35 meter
Depth of flat and level flight during the mission for the first transit leg or lap.
Depth2¶
Depth2 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN.
Depth3¶
Depth3 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN.
Depth4¶
Depth4 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN.
Depth5¶
Depth5 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN.
Depth6¶
Depth6 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN.
Depth7¶
Depth7 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN.
Depth8¶
Depth8 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps. Skipped if NaN.
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).
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.
Lat8¶
Lat8 = NaN degree
Latitude of waypoint 8. If nan, waypoint is skipped.
Lon8¶
Lon8 = NaN degree
Longitude of waypoint 8. If nan, waypoint is skipped.
FastSpeed¶
FastSpeed = 1 meter_per_second
Speed while transiting to waypoint.
ApproachSpeed¶
ApproachSpeed = 1 meter_per_second
Speed while descending to target depth.
ApproachDepthTimeout¶
ApproachDepthTimeout = 15 minute
Maximum time duration for the vehicle to reach the target depth
ApproachSettleTimePostDive¶
ApproachSettleTimePostDive = 1 minute
Time duration for the vehicle to settle AFTER reaching the target depth.
SlowSpeed¶
SlowSpeed = 0.25 meter_per_second
Set this to something other than Nan if slow speed filming with a wide depth deadband is desired.
DepthDeviationSlow¶
DepthDeviationSlow = 3 meter
Allowable +/- deviation from depth during slow flight. Needs a SlowSpeed to be set.
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 = 50 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
EnableRecording¶
EnableRecording = true
Main switch to enable/disable camera and lights for the entire mission. If false, camera and lights will remain off regardless of other settings.
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 spiral down to initial 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
Mission variable to track the current depth for the current leg.
RecordingEnabled¶
RecordingEnabled = false
Mission variable to track whether payloads (camera and lights) should be on
Inserts¶
Insert/Science.tl¶
Run the science sensors.