underIce/profile_stationUnder.tl¶
Mission ID: profile_stationUnder
Mission Path: underIce/profile_stationUnder.tl
This mission yoyos in a circle around a specified location. Designed for under ice.
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum duration of mission
DetachTimeout¶
DetachTimeout = 20 minute
Maximum time to spend getting off the dock
Lat¶
Lat = 44.847 degree
The latitude of the center of the circle.
Lon¶
Lon = -67.577535 degree
The longitude of the center of the circle.
Radius¶
Radius = 50 meter
Radius to circle at
YoYoMinDepth¶
YoYoMinDepth = 2.5 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth¶
YoYoMaxDepth = 5 meter
Maximum depth while performing the YoYo behavior.
YoYoMinAltitude¶
YoYoMinAltitude = 4 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
YoYoPitch¶
YoYoPitch = 15 degree
Pitch (plus and minus) for yo-yo behavior.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
CircleMaxError¶
CircleMaxError = 1 meter
If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.
CircleTurnToPort¶
CircleTurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
KwpHeading¶
KwpHeading = 0.010 radian_per_meter
Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)
MinAltitude¶
MinAltitude = 2 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 8 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 10 meter
Minimum offshore distance for the entire mission.
MicromodemCommsInterval¶
MicromodemCommsInterval = 5 minute
How often to trigger Umodem communications
TransponderCode¶
TransponderCode = 2 count
Transponder Address.
TrackingUpdatePeriod¶
TrackingUpdatePeriod = 2.5 second
How long to wait between acoustic queries.
NumberOfPings¶
NumberOfPings = 1 count
Number of pings requested each time.
Output¶
None defined
Inserts¶
Insert/Science.tl¶
Most missions will run the science sensors.
redefineArg PeakDetectChlActive = true
Insert/MicromodemComms.tl¶
redefineArg CommsInterval = MicromodemCommsInterval