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`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.

Arguments¶

MissionTimeout¶

MissionTimeout = 2 hour

Maximum duration of mission

NeedCommsTime¶

NeedCommsTime = 60 minute

How often to surface for commumications

Depth¶

Depth = 35 meter

Depth of flat and level flight during the mission.

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.

ApproachDepth¶

ApproachDepth = 30 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).

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.

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.

Science/sci2_noyo_optim.tl¶