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 = 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.
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
SinkOffSurface¶
SinkOffSurface = false
If true, use buoyancy only to decend to SinkDepth before driving to first target depth
SinkDepth¶
SinkDepth = 10 meter
Initial depth to decend using only buoyancy before driving
SinkDepthTimeout¶
SinkDepthTimeout = 10 minute
Max wait time for the vehicle to reach the target depth
CaptureRadius¶
CaptureRadius = NaN meter
Acceptable distance from waypoint.
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. Not respected during slowyo.
MinAltitude¶
MinAltitude = 7 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 110 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
Output¶
DiveMode¶
DiveMode = 0 count
DoingComms¶
DoingComms = 0 count
SurfaceSink¶
SurfaceSink = 1 count
InitialDive¶
InitialDive = 2 count
SlowYo¶
SlowYo = 3 count
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