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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.

LightMode

LightMode = 2 count

Mode for MultiRay lights at depth. 0 is off, 1 is red, 2 is white

BrightnessWhite

BrightnessWhite = 100 none_int

White MultiRay LED brightness, 0-100

BrightnessRed

BrightnessRed = 100 none_int

Red MultiRay LED brightness, 0-100

BackseatWait

BackseatWait = 30 second

How long to wait for the backseat to power up before attempting to power the Optim

InitialSampleTime

InitialSampleTime = 1 second

PowerOnly sample time for initial record. Will go back to continuous after startup.

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.

RecordingEnabled

RecordingEnabled = false

Mission variable (don't change). Reflects intended recording state.

LightsEnabled

LightsEnabled = false

Mission variable (dont' chage). Reflects intended light state.

Inserts

Insert/Science.tl

Run the science sensors.

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Insert/BackseatDriver.tl

Invoked Module Behaviors

Guidance:Buoyancy

Guidance:Execute

Guidance:Mass

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint