Science/sci2_noyo_tmp.tl¶
Mission ID: sci2_noyo_tmp
Mission Path: Science/sci2_noyo_tmp.tl
Vehicle 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 = 60 minute
How often to surface for commumications
Depth1¶
Depth1 = 3 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.
Depth9¶
Depth9 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps Skipped if NaN.
Depth10¶
Depth10 = NaN meter
Depth of flat and level flight during the mission for subsequent transit legs or laps Skipped if NaN.
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 = 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 1. If nan, waypoint is skipped.
Lon2¶
Lon2 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Lat3¶
Lat3 = NaN degree
Latitude of waypoint 1. If nan, waypoint is skipped.
Lon3¶
Lon3 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Lat4¶
Lat4 = NaN degree
Latitude of waypoint 1. If nan, waypoint is skipped.
Lon4¶
Lon4 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Lat5¶
Lat5 = NaN degree
Latitude of waypoint 1. If nan, waypoint is skipped.
Lon5¶
Lon5 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Lat6¶
Lat6 = NaN degree
Latitude of waypoint 1. If nan, waypoint is skipped.
Lon6¶
Lon6 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Lat7¶
Lat7 = NaN degree
Latitude of waypoint 1. If nan, waypoint is skipped.
Lon7¶
Lon7 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Speed¶
Speed = 1 meter_per_second
Speed while transiting to waypoints.
ApproachDepth¶
ApproachDepth = 2 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).
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 = 15 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.
LegDepth¶
LegDepth = Depth1
Inserts¶
Insert/Science.tl¶
Run the science sensors.