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underIce/profile_stationUnder.xml

Mission ID: profile_stationUnder

Mission Path: underIce/profile_stationUnder.xml

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

DetachDepth

DetachDepth = 4.5 meter

Desired vehicle depth when leaving the dock.

DetachBounceTimeout

DetachBounceTimeout = 20 second

Time duration to keep the thruster engaged to bounce/slingshot off the dock.

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

Insert/StandardEnvelopes.tl

Invoked Module Behaviors

Dock:Undock

Estimation:TrackAcousticContact

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:SetSpeed

Guidance:YoYo