This mission yoyos in a circle around a specified location. Designed for under ice.
MissionTimeout = 2 hour
Maximum duration of mission
DetachTimeout = 20 minute
Maximum time to spend getting off the dock
Lat = 44.847 degree
The latitude of the center of the circle.
Lon = -67.577535 degree
The longitude of the center of the circle.
Radius = 50 meter
Radius to circle at
YoYoMinDepth = 2.5 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth = 5 meter
Maximum depth while performing the YoYo behavior.
YoYoMinAltitude = 4 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
YoYoPitch = 15 degree
Pitch (plus and minus) for yo-yo behavior.
Speed = 1 meter_per_second
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 = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
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 = 2 meter
Minimum height above the sea floor for the entire mission.
MaxDepth = 8 meter
Maximum depth for the entire mission.
MinOffshore = 10 meter
Minimum offshore distance for the entire mission.
MicromodemCommsInterval = 5 minute
How often to trigger Umodem communications
DetachDepth = 4.5 meter
Desired vehicle depth when leaving the dock.
DetachBounceTimeout = 20 second
Time duration to keep the thruster engaged to bounce/slingshot off the dock.
TransponderCode = 2 count
TrackingUpdatePeriod = 2.5 second
How long to wait between acoustic queries.
NumberOfPings = 1 count
Number of pings requested each time.
Most missions will run the science sensors.
redefineArg PeakDetectChlActive = true
redefineArg CommsInterval = MicromodemCommsInterval