underIce/sci2Under.tl¶
Mission ID: sci2Under
Mission Path: underIce/sci2Under.tl
Vehicle yo-yo's to the specified waypoints, with science turned on. 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
Repeat¶
Repeat = 1 count
Number of times the vehicle should try to cycle through waypoints..
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 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.
Speed¶
Speed = 1 meter_per_second
Speed while performing the YoYo behavior.
CaptureRadius¶
CaptureRadius = NaN meter
Speed while performing the YoYo behavior.
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).
YoYoUpPitch¶
YoYoUpPitch = 15 degree
Vehicle up pitch while performing the YoYo behavior.
YoYoDownPitch¶
YoYoDownPitch = -15 degree
Vehicle down pitch while performing the YoYo behavior.
BuoyancyNeutral¶
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
Buoyancy bladder position while performing the YoYo behavior. 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 = 8 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 1 meter
Minimum offshore distance for the entire mission.
MicromodemCommsInterval¶
MicromodemCommsInterval = 2 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/StandardEnvelopes.tl¶
Insert/MicromodemComms.tl¶
redefineArg CommsInterval = MicromodemCommsInterval