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Science/sci2_slowyo_test.tl

Mission ID: sci2_slowyo_test

Mission Path: Science/sci2_slowyo_test.tl

Vehicle yo-yo's to the specified waypoints, with science turned on.

Arguments

MissionTimeout

MissionTimeout = 2 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

How often to surface for communications

NeedCommsSurfaceDepthRate

NeedCommsSurfaceDepthRate = 0.3 meter_per_second

How quickly to ascend for comms

Repeat

Repeat = 10 count

Number of times the vehicle should try to cycle through waypoints..

Lat1

Lat1 = 36.8 degree

Latitude of waypoint 1. If nan, waypoint is skipped.

Lon1

Lon1 = -125 degree

Longitude of waypoint 1. If nan, waypoint is skipped.

Lat2

Lat2 = 36.8 degree

Latitude of waypoint 2. If nan, waypoint is skipped.

Lon2

Lon2 = -125 degree

Longitude of waypoint 2. If nan, waypoint is skipped.

Lat3

Lat3 = 36.8 degree

Latitude of waypoint 3. If nan, waypoint is skipped.

Lon3

Lon3 = -125 degree

Longitude of waypoint 3. If nan, waypoint is skipped.

Lat4

Lat4 = 36.8 degree

Latitude of waypoint 4. If nan, waypoint is skipped.

Lon4

Lon4 = -125 degree

Longitude of waypoint 4. If nan, waypoint is skipped.

Lat5

Lat5 = 36.8 degree

Latitude of waypoint 5. If nan, waypoint is skipped.

Lon5

Lon5 = -125 degree

Longitude of waypoint 5. If nan, waypoint is skipped.

Lat6

Lat6 = 36.8 degree

Latitude of waypoint 6. If nan, waypoint is skipped.

Lon6

Lon6 = -125 degree

Longitude of waypoint 6. If nan, waypoint is skipped.

Lat7

Lat7 = 36.8 degree

Latitude of waypoint 7. If nan, waypoint is skipped.

Lon7

Lon7 = -125 degree

Longitude of waypoint 7. If nan, waypoint is skipped.

ApproachDepthTimeout

ApproachDepthTimeout = 15 minute

Maximum time duration for the vehicle to reach the target depth

SlowYoDiveAngle

SlowYoDiveAngle = 15 degree

Dive Angle while performing SlowYo

Speed

Speed = 1.0 meter_per_second

Speed while performing the YoYo behavior.

SlowYoMinDepth

SlowYoMinDepth = 10 meter

Min Depth while performing SlowYo

SlowYoMaxDepth

SlowYoMaxDepth = 100 meter

Max Depth while performing SlowYo

SlowYoSmoothingFactor

SlowYoSmoothingFactor = 100 percent

Min Depth while performing SlowYo

CaptureRadius

CaptureRadius = NaN meter

Speed while performing the YoYo behavior.

PeakDetectChl

PeakDetectChl = false

Whether to enable peak chl detection on each yo-yo profile

ShallowBoundChl

ShallowBoundChl = NaN meter

Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection

DeepBoundChl

DeepBoundChl = NaN meter

Used only when PeakDetectChl is true. Deep depth bound for peak chl detection

ChlThreshTrigger

ChlThreshTrigger = false

Whether to enable chl threshold triggering

ChlLowerThreshold

ChlLowerThreshold = NaN microgram_per_liter

Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.

ChlUpperThreshold

ChlUpperThreshold = NaN microgram_per_liter

Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.

NumProfilesThreshold

NumProfilesThreshold = 5 count

Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.

BuoyancyNeutral

BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy

ElevatorDefault

ElevatorDefault = 0 degree

Shuts off the elevators.

MassDefault

MassDefault = Control:VerticalControl.massDefault

Static setting for mass during the mission. Set to NaN mm for active mass position

MinAltitude

MinAltitude = 0 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 305 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

Output

None defined

Inserts

Insert/Science.tl

Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.

redefineArg PeakDetectChlActive = PeakDetectChl
redefineArg PeakShallowBound = ShallowBoundChl
redefineArg PeakDeepBound = DeepBoundChl
redefineArg ChlThreshTriggerActive = ChlThreshTrigger
redefineArg ChlLowerThresh = ChlLowerThreshold
redefineArg ChlUpperThresh = ChlUpperThreshold
redefineArg NumProfilesThresh = NumProfilesThreshold

Insert/StandardEnvelopes.tl

Insert/BackseatDriver.tl

Invoked Module Behaviors

Guidance:Buoyancy

Guidance:Execute

Guidance:Mass

Guidance:Pitch

Guidance:SetSpeed

Guidance:SlowYo

Guidance:Wait

Guidance:Waypoint