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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 = 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.

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
``````