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Science/sci2_with_aprch_depth.tl

Mission ID: sci2_with_aproach_depth

Mission Path: Science/sci2_with_aprch_depth.tl

Vehicle dives to approach depth, then 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 commumications

Depth1

Depth1 = 3 meter

Depth of flat and level flight during the mission for the transit of the waypoints

Depth2

Depth2 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Depth3

Depth3 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Depth4

Depth4 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Depth5

Depth5 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Depth6

Depth6 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Depth7

Depth7 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Depth8

Depth8 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Depth9

Depth9 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Depth10

Depth10 = NaN meter

Depth of flat and level flight during the mission for subsequent repetitions of the waypoints. Skipped if NaN.

Repeat

Repeat = 1 count

Number of times the vehicle should try to cycle through waypoints and depths. One run of all waypoints at all target depths is one repetition.

YoYoMinDepth

YoYoMinDepth = 2 meter

Minimum depth while performing the YoYo behavior.

YoYoMaxDepth

YoYoMaxDepth = 200 meter

Maximum depth while performing the YoYo behavior.

YoYoMinAltitude

YoYoMinAltitude = 9 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

YoYoUpPitch

YoYoUpPitch = 20 degree

Vehicle up pitch while performing the YoYo behavior.

YoYoDownPitch

YoYoDownPitch = -20 degree

Vehicle down pitch while performing the YoYo behavior.

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 = 4 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 = 0.1 minute

Time duration for the vehicle to settle AFTER reaching the target depth.

MassPositionAprch

MassPositionAprch = Control:VerticalControl.massDefault

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

BuoyancyApproach

BuoyancyApproach = 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.

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.

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Insert/BackseatDriver.tl

Insert/PowerOnly.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Mass

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo