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_examples/grid_survey_yoyo.tl

Mission ID: grid_survey

Mission Path: _examples/grid_survey_yoyo.tl

Vehicle uses grid waypoints generated from the dash to fly at a specified depth with science turned on. One comms stop upon arrival at the first waypoint.

Arguments

MissionTimeout

MissionTimeout = 3 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

How often to surface for commumications

Repeat

Repeat = 1 count

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

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.

WPTCompleted

WPTCompleted = false

A waypoint has been reached (initialized to false).

CntWPTS

CntWPTS = 1 count

Count of waypoints (initilized to 1).

NumWPTS

NumWPTS = 75 count

Total number of waypoints allowed.

Lat1

Lat1 = 40.1 degree

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

Lon1

Lon1 = -69.9173 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.

Lat8

Lat8 = NaN degree

Latitude of waypoint 8. If nan, waypoint is skipped.

Lon8

Lon8 = NaN degree

Longitude of waypoint 8. If nan, waypoint is skipped.

Lat9

Lat9 = NaN degree

Latitude of waypoint 9. If nan, waypoint is skipped.

Lon9

Lon9 = NaN degree

Longitude of waypoint 9. If nan, waypoint is skipped.

Lat10

Lat10 = NaN degree

Latitude of waypoint 10. If nan, waypoint is skipped.

Lon10

Lon10 = NaN degree

Longitude of waypoint 10. If nan, waypoint is skipped.

Lat11

Lat11 = NaN degree

Latitude of waypoint 11. If nan, waypoint is skipped.

Lon11

Lon11 = NaN degree

Longitude of waypoint 11. If nan, waypoint is skipped.

Lat12

Lat12 = NaN degree

Latitude of waypoint 12. If nan, waypoint is skipped.

Lon12

Lon12 = NaN degree

Longitude of waypoint 12. If nan, waypoint is skipped.

Lat13

Lat13 = NaN degree

Latitude of waypoint 13. If nan, waypoint is skipped.

Lon13

Lon13 = NaN degree

Longitude of waypoint 13. If nan, waypoint is skipped.

Lat14

Lat14 = NaN degree

Latitude of waypoint 14. If nan, waypoint is skipped.

Lon14

Lon14 = NaN degree

Longitude of waypoint 14. If nan, waypoint is skipped.

Lat15

Lat15 = NaN degree

Latitude of waypoint 15. If nan, waypoint is skipped.

Lon15

Lon15 = NaN degree

Longitude of waypoint 15. If nan, waypoint is skipped.

Lat16

Lat16 = NaN degree

Latitude of waypoint 16. If nan, waypoint is skipped.

Lon16

Lon16 = NaN degree

Longitude of waypoint 16. If nan, waypoint is skipped.

Lat17

Lat17 = NaN degree

Latitude of waypoint 17. If nan, waypoint is skipped.

Lon17

Lon17 = NaN degree

Longitude of waypoint 17. If nan, waypoint is skipped.

Lat18

Lat18 = NaN degree

Latitude of waypoint 18. If nan, waypoint is skipped.

Lon18

Lon18 = NaN degree

Longitude of waypoint 18. If nan, waypoint is skipped.

Lat19

Lat19 = NaN degree

Latitude of waypoint 19. If nan, waypoint is skipped.

Lon19

Lon19 = NaN degree

Longitude of waypoint 19. If nan, waypoint is skipped.

Lat20

Lat20 = NaN degree

Latitude of waypoint 20. If nan, waypoint is skipped.

Lon20

Lon20 = NaN degree

Longitude of waypoint 20. If nan, waypoint is skipped.

Lat21

Lat21 = NaN degree

Latitude of waypoint 21. If nan, waypoint is skipped.

Lon21

Lon21 = NaN degree

Longitude of waypoint 21. If nan, waypoint is skipped.

Lat22

Lat22 = NaN degree

Latitude of waypoint 22. If nan, waypoint is skipped.

Lon22

Lon22 = NaN degree

Longitude of waypoint 22. If nan, waypoint is skipped.

Lat23

Lat23 = NaN degree

Latitude of waypoint 23. If nan, waypoint is skipped.

Lon23

Lon23 = NaN degree

Longitude of waypoint 23. If nan, waypoint is skipped.

Lat24

Lat24 = NaN degree

Latitude of waypoint 24. If nan, waypoint is skipped.

Lon24

Lon24 = NaN degree

Longitude of waypoint 24. If nan, waypoint is skipped.

Lat25

Lat25 = NaN degree

Latitude of waypoint 25. If nan, waypoint is skipped.

Lon25

Lon25 = NaN degree

Longitude of waypoint 25. If nan, waypoint is skipped.

Lat26

Lat26 = NaN degree

Latitude of waypoint 26. If nan, waypoint is skipped.

Lon26

Lon26 = NaN degree

Longitude of waypoint 26. If nan, waypoint is skipped.

Lat27

Lat27 = NaN degree

Latitude of waypoint 27. If nan, waypoint is skipped.

Lon27

Lon27 = NaN degree

Longitude of waypoint 27. If nan, waypoint is skipped.

Lat28

Lat28 = NaN degree

Latitude of waypoint 28. If nan, waypoint is skipped.

Lon28

Lon28 = NaN degree

Longitude of waypoint 28. If nan, waypoint is skipped.

Lat29

Lat29 = NaN degree

Latitude of waypoint 29. If nan, waypoint is skipped.

Lon29

Lon29 = NaN degree

Longitude of waypoint 29. If nan, waypoint is skipped.

Lat30

Lat30 = NaN degree

Latitude of waypoint 30. If nan, waypoint is skipped.

Lon30

Lon30 = NaN degree

Longitude of waypoint 30. If nan, waypoint is skipped.

Lat31

Lat31 = NaN degree

Latitude of waypoint 31. If nan, waypoint is skipped.

Lon31

Lon31 = NaN degree

Longitude of waypoint 31. If nan, waypoint is skipped.

Lat32

Lat32 = NaN degree

Latitude of waypoint 32. If nan, waypoint is skipped.

Lon32

Lon32 = NaN degree

Longitude of waypoint 32. If nan, waypoint is skipped.

Lat33

Lat33 = NaN degree

Latitude of waypoint 33. If nan, waypoint is skipped.

Lon33

Lon33 = NaN degree

Longitude of waypoint 33. If nan, waypoint is skipped.

Lat34

Lat34 = NaN degree

Latitude of waypoint 34. If nan, waypoint is skipped.

Lon34

Lon34 = NaN degree

Longitude of waypoint 34. If nan, waypoint is skipped.

Lat35

Lat35 = NaN degree

Latitude of waypoint 35. If nan, waypoint is skipped.

Lon35

Lon35 = NaN degree

Longitude of waypoint 35. If nan, waypoint is skipped.

Lat36

Lat36 = NaN degree

Latitude of waypoint 36. If nan, waypoint is skipped.

Lon36

Lon36 = NaN degree

Longitude of waypoint 36. If nan, waypoint is skipped.

Lat37

Lat37 = NaN degree

Latitude of waypoint 37. If nan, waypoint is skipped.

Lon37

Lon37 = NaN degree

Longitude of waypoint 37. If nan, waypoint is skipped.

Lat38

Lat38 = NaN degree

Latitude of waypoint 38. If nan, waypoint is skipped.

Lon38

Lon38 = NaN degree

Longitude of waypoint 38. If nan, waypoint is skipped.

Lat39

Lat39 = NaN degree

Latitude of waypoint 39. If nan, waypoint is skipped.

Lon39

Lon39 = NaN degree

Longitude of waypoint 39. If nan, waypoint is skipped.

Lat40

Lat40 = NaN degree

Latitude of waypoint 40. If nan, waypoint is skipped.

Lon40

Lon40 = NaN degree

Longitude of waypoint 40. If nan, waypoint is skipped.

Lat41

Lat41 = NaN degree

Latitude of waypoint 41. If nan, waypoint is skipped.

Lon41

Lon41 = NaN degree

Longitude of waypoint 41. If nan, waypoint is skipped.

Lat42

Lat42 = NaN degree

Latitude of waypoint 42. If nan, waypoint is skipped.

Lon42

Lon42 = NaN degree

Longitude of waypoint 42. If nan, waypoint is skipped.

Lat43

Lat43 = NaN degree

Latitude of waypoint 43. If nan, waypoint is skipped.

Lon43

Lon43 = NaN degree

Longitude of waypoint 43. If nan, waypoint is skipped.

Lat44

Lat44 = NaN degree

Latitude of waypoint 44. If nan, waypoint is skipped.

Lon44

Lon44 = NaN degree

Longitude of waypoint 44. If nan, waypoint is skipped.

Lat45

Lat45 = NaN degree

Latitude of waypoint 45. If nan, waypoint is skipped.

Lon45

Lon45 = NaN degree

Longitude of waypoint 45. If nan, waypoint is skipped.

Lat46

Lat46 = NaN degree

Latitude of waypoint 46. If nan, waypoint is skipped.

Lon46

Lon46 = NaN degree

Longitude of waypoint 46. If nan, waypoint is skipped.

Lat47

Lat47 = NaN degree

Latitude of waypoint 47. If nan, waypoint is skipped.

Lon47

Lon47 = NaN degree

Longitude of waypoint 47. If nan, waypoint is skipped.

Lat48

Lat48 = NaN degree

Latitude of waypoint 48. If nan, waypoint is skipped.

Lon48

Lon48 = NaN degree

Longitude of waypoint 48. If nan, waypoint is skipped.

Lat49

Lat49 = NaN degree

Latitude of waypoint 49. If nan, waypoint is skipped.

Lon49

Lon49 = NaN degree

Longitude of waypoint 49. If nan, waypoint is skipped.

Lat50

Lat50 = NaN degree

Latitude of waypoint 50. If nan, waypoint is skipped.

Lon50

Lon50 = NaN degree

Longitude of waypoint 50. If nan, waypoint is skipped.

Lat51

Lat51 = NaN degree

Latitude of waypoint 51. If nan, waypoint is skipped.

Lon51

Lon51 = NaN degree

Longitude of waypoint 51. If nan, waypoint is skipped.

Lat52

Lat52 = NaN degree

Latitude of waypoint 52. If nan, waypoint is skipped.

Lon52

Lon52 = NaN degree

Longitude of waypoint 52. If nan, waypoint is skipped.

Lat53

Lat53 = NaN degree

Latitude of waypoint 53. If nan, waypoint is skipped.

Lon53

Lon53 = NaN degree

Longitude of waypoint 53. If nan, waypoint is skipped.

Lat54

Lat54 = NaN degree

Latitude of waypoint 54. If nan, waypoint is skipped.

Lon54

Lon54 = NaN degree

Longitude of waypoint 54. If nan, waypoint is skipped.

Lat55

Lat55 = NaN degree

Latitude of waypoint 55. If nan, waypoint is skipped.

Lon55

Lon55 = NaN degree

Longitude of waypoint 55. If nan, waypoint is skipped.

Lat56

Lat56 = NaN degree

Latitude of waypoint 56. If nan, waypoint is skipped.

Lon56

Lon56 = NaN degree

Longitude of waypoint 56. If nan, waypoint is skipped.

Lat57

Lat57 = NaN degree

Latitude of waypoint 57. If nan, waypoint is skipped.

Lon57

Lon57 = NaN degree

Longitude of waypoint 57. If nan, waypoint is skipped.

Lat58

Lat58 = NaN degree

Latitude of waypoint 58. If nan, waypoint is skipped.

Lon58

Lon58 = NaN degree

Longitude of waypoint 58. If nan, waypoint is skipped.

Lat59

Lat59 = NaN degree

Latitude of waypoint 59. If nan, waypoint is skipped.

Lon59

Lon59 = NaN degree

Longitude of waypoint 59. If nan, waypoint is skipped.

Lat60

Lat60 = NaN degree

Latitude of waypoint 60. If nan, waypoint is skipped.

Lon60

Lon60 = NaN degree

Longitude of waypoint 60. If nan, waypoint is skipped.

Lat61

Lat61 = NaN degree

Latitude of waypoint 61. If nan, waypoint is skipped.

Lon61

Lon61 = NaN degree

Longitude of waypoint 61. If nan, waypoint is skipped.

Lat62

Lat62 = NaN degree

Latitude of waypoint 62. If nan, waypoint is skipped.

Lon62

Lon62 = NaN degree

Longitude of waypoint 62. If nan, waypoint is skipped.

Lat63

Lat63 = NaN degree

Latitude of waypoint 63. If nan, waypoint is skipped.

Lon63

Lon63 = NaN degree

Longitude of waypoint 63. If nan, waypoint is skipped.

Lat64

Lat64 = NaN degree

Latitude of waypoint 64. If nan, waypoint is skipped.

Lon64

Lon64 = NaN degree

Longitude of waypoint 64. If nan, waypoint is skipped.

Lat65

Lat65 = NaN degree

Latitude of waypoint 65. If nan, waypoint is skipped.

Lon65

Lon65 = NaN degree

Longitude of waypoint 65. If nan, waypoint is skipped.

Lat66

Lat66 = NaN degree

Latitude of waypoint 66. If nan, waypoint is skipped.

Lon66

Lon66 = NaN degree

Longitude of waypoint 66. If nan, waypoint is skipped.

Lat67

Lat67 = NaN degree

Latitude of waypoint 67. If nan, waypoint is skipped.

Lon67

Lon67 = NaN degree

Longitude of waypoint 67. If nan, waypoint is skipped.

Lat68

Lat68 = NaN degree

Latitude of waypoint 68. If nan, waypoint is skipped.

Lon68

Lon68 = NaN degree

Longitude of waypoint 68. If nan, waypoint is skipped.

Lat69

Lat69 = NaN degree

Latitude of waypoint 69. If nan, waypoint is skipped.

Lon69

Lon69 = NaN degree

Longitude of waypoint 69. If nan, waypoint is skipped.

Lat70

Lat70 = NaN degree

Latitude of waypoint 70. If nan, waypoint is skipped.

Lon70

Lon70 = NaN degree

Longitude of waypoint 70. If nan, waypoint is skipped.

Lat71

Lat71 = NaN degree

Latitude of waypoint 71. If nan, waypoint is skipped.

Lon71

Lon71 = NaN degree

Longitude of waypoint 71. If nan, waypoint is skipped.

Lat72

Lat72 = NaN degree

Latitude of waypoint 72. If nan, waypoint is skipped.

Lon72

Lon72 = NaN degree

Longitude of waypoint 72. If nan, waypoint is skipped.

Lat73

Lat73 = NaN degree

Latitude of waypoint 73. If nan, waypoint is skipped.

Lon73

Lon73 = NaN degree

Longitude of waypoint 73. If nan, waypoint is skipped.

Lat74

Lat74 = NaN degree

Latitude of waypoint 74. If nan, waypoint is skipped.

Lon74

Lon74 = NaN degree

Longitude of waypoint 74. If nan, waypoint is skipped.

Lat75

Lat75 = NaN degree

Latitude of waypoint 75. If nan, waypoint is skipped.

Lon75

Lon75 = NaN degree

Longitude of waypoint 75. If nan, waypoint is skipped.

Speed

Speed = 1 meter_per_second

Speed while transiting to waypoints.

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 = 7 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 65 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

LatSet

LatSet = NaN degree

Latitude of waypoint for mission use. Initialized to NaN.

LonSet

LonSet = NaN degree

Longitude of waypoint for mission use. Initialized to NaN.

Output

None defined

Inserts

Insert/Science.tl

Run the science sensors.

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Invoked Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:Waypoint

Guidance:YoYo