missionsci2Under{""" Vehicle yo-yo's to the specified waypoints, with science turned on. Designed for under ice. """arguments{MissionTimeout=2hour""" Maximum duration of mission """DetachTimeout=20minute""" Maximum time to spend getting off the dock """Repeat=1count""" Number of times the vehicle should try to cycle through waypoints.. """Lat1=NaNdegree""" Latitude of waypoint 1. If nan, waypoint is skipped. """Lon1=NaNdegree""" Longitude of waypoint 1. If nan, waypoint is skipped. """Lat2=NaNdegree""" Latitude of waypoint 2. If nan, waypoint is skipped. """Lon2=NaNdegree""" Longitude of waypoint 2. If nan, waypoint is skipped. """Lat3=NaNdegree""" Latitude of waypoint 3. If nan, waypoint is skipped. """Lon3=NaNdegree""" Longitude of waypoint 3. If nan, waypoint is skipped. """Lat4=NaNdegree""" Latitude of waypoint 4. If nan, waypoint is skipped. """Lon4=NaNdegree""" Longitude of waypoint 4. If nan, waypoint is skipped. """Lat5=NaNdegree""" Latitude of waypoint 5. If nan, waypoint is skipped. """Lon5=NaNdegree""" Longitude of waypoint 5. If nan, waypoint is skipped. """Lat6=NaNdegree""" Latitude of waypoint 6. If nan, waypoint is skipped. """Lon6=NaNdegree""" Longitude of waypoint 6. If nan, waypoint is skipped. """Lat7=NaNdegree""" Latitude of waypoint 7. If nan, waypoint is skipped. """Lon7=NaNdegree""" Longitude of waypoint 7. If nan, waypoint is skipped. """Speed=1meter_per_second""" Speed while performing the YoYo behavior. """CaptureRadius=NaNmeter""" Speed while performing the YoYo behavior. """YoYoMinDepth=2.5meter""" Minimum depth while performing the YoYo behavior. """YoYoMaxDepth=5meter""" Maximum depth while performing the YoYo behavior. """YoYoMinAltitude=4meter""" Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). """YoYoUpPitch=15degree""" Vehicle up pitch while performing the YoYo behavior. """YoYoDownPitch=-15degree""" Vehicle down pitch while performing the YoYo behavior. """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=Control:VerticalControl.massDefault""" Static setting for mass during the mission. Set to NaN mm for active mass position """MinAltitude=2meter""" Minimum height above the sea floor for the entire mission. """MaxDepth=8meter""" Maximum depth for the entire mission. """MinOffshore=1meter""" Minimum offshore distance for the entire mission. """timeoutduration=MissionTimeoutMicromodemCommsInterval=2minute""" How often to trigger Umodem communications """DetachDepth=4.5meter""" Desired vehicle depth when leaving the dock. """DetachBounceTimeout=20second""" Time duration to keep the thruster engaged to bounce/slingshot off the dock. """TransponderCode=2count""" Transponder Address. """TrackingUpdatePeriod=2.5second""" How long to wait between acoustic queries. """NumberOfPings=1count""" Number of pings requested each time. """}insertInsert/Science.xml{""" Most missions will run the science sensors. """redefineArgPeakDetectChlActive=true}insertInsert/StandardEnvelopes.xmlassigninsequenceStandardEnvelopes:MinAltitude=MinAltitudeassigninsequenceStandardEnvelopes:MaxDepth=MaxDepthassigninsequenceStandardEnvelopes:MinOffshore=MinOffshoreaggregateDetach{runinsequencetimeoutduration=DetachTimeout{syslogimportant"Timed out trying to detach from dock. Stopping mission."behaviorGuidance:Execute{runinsequencesetGuidance:Execute.command="stop"}}syslogimportant"Detaching from dock."# Turn on tracking so we get some ranges to see how far we are from the dockbehaviorEstimation:TrackAcousticContact{runinparallelsetEstimation:TrackAcousticContact.contactLabelSetting=TransponderCodesetEstimation:TrackAcousticContact.numberOfSamplesSetting=NumberOfPingssetEstimation:TrackAcousticContact.updatePeriodSetting=TrackingUpdatePeriod}# Time to leave the dock!behaviorDock:Undock{runinsequence}}aggregateSci2{behaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.massPosition=MassDefault}behaviorGuidance:Buoyancy{runinparallelsetGuidance:Buoyancy.position=BuoyancyNeutral}behaviorGuidance:SetSpeed{runinparallelsetGuidance:SetSpeed.speed=Speed}behaviorGuidance:DepthEnvelope{""" Another depth envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for depth-terminated YoYos. """runinparallelsetGuidance:DepthEnvelope.minDepth=YoYoMinDepthsetGuidance:DepthEnvelope.maxDepth=YoYoMaxDepthsetGuidance:DepthEnvelope.downPitch=YoYoDownPitchsetGuidance:DepthEnvelope.upPitch=YoYoUpPitch}behaviorGuidance:AltitudeEnvelope{""" Another altitude envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for bottom-terminated YoYos. """runinparallelsetGuidance:AltitudeEnvelope.minAltitude=YoYoMinAltitudesetGuidance:AltitudeEnvelope.upPitch=YoYoUpPitch}behaviorGuidance:YoYo{runinparallelsetGuidance:YoYo.downPitch=YoYoDownPitchsetGuidance:YoYo.upPitch=YoYoUpPitch}aggregateLap{runinsequencerepeat=RepeatinsertInsert/MicromodemComms.xmlid="MicromodemComms"{redefineArgCommsInterval=MicromodemCommsInterval}aggregateWpt1{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat1setGuidance:Waypoint.longitude=Lon1setGuidance:Waypoint.captureRadius=CaptureRadius}}aggregateWpt2{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat2setGuidance:Waypoint.longitude=Lon2}}aggregateWpt3{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat3setGuidance:Waypoint.longitude=Lon3}}aggregateWpt4{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat4setGuidance:Waypoint.longitude=Lon4}}aggregateWpt5{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat5setGuidance:Waypoint.longitude=Lon5}}aggregateWpt6{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat6setGuidance:Waypoint.longitude=Lon6}}aggregateWpt7{runinsequencebehaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=Lat7setGuidance:Waypoint.longitude=Lon7}}}}}
<?xml version="1.0" encoding="UTF-8"?><!-- ==================== Generated by TethysL ==================== --><Missionxmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"xmlns="Tethys"xmlns:Units="Tethys/Units"xmlns:Estimation="Tethys/Estimation"xmlns:Dock="Tethys/Dock"xmlns:Control="Tethys/Control"xmlns:Guidance="Tethys/Guidance"xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd"Id="sci2Under"><Description>
Vehicle yo-yo's to the specified waypoints, with science turned on.
Designed for under ice.
</Description><DefineArgName="MissionTimeout"><Description>
Maximum duration of mission
</Description><Units:hour/><Value>2</Value></DefineArg><DefineArgName="DetachTimeout"><Description>
Maximum time to spend getting off the dock
</Description><Units:minute/><Value>20</Value></DefineArg><DefineArgName="Repeat"><Description>
Number of times the vehicle should try to cycle through waypoints..
</Description><Units:count/><Value>1</Value></DefineArg><DefineArgName="Lat1"><Description>
Latitude of waypoint 1. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon1"><Description>
Longitude of waypoint 1. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat2"><Description>
Latitude of waypoint 2. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon2"><Description>
Longitude of waypoint 2. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat3"><Description>
Latitude of waypoint 3. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon3"><Description>
Longitude of waypoint 3. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat4"><Description>
Latitude of waypoint 4. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon4"><Description>
Longitude of waypoint 4. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat5"><Description>
Latitude of waypoint 5. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon5"><Description>
Longitude of waypoint 5. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat6"><Description>
Latitude of waypoint 6. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon6"><Description>
Longitude of waypoint 6. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lat7"><Description>
Latitude of waypoint 7. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Lon7"><Description>
Longitude of waypoint 7. If nan, waypoint is skipped.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Speed"><Description>
Speed while performing the YoYo behavior.
</Description><Units:meter_per_second/><Value>1</Value></DefineArg><DefineArgName="CaptureRadius"><Description>
Speed while performing the YoYo behavior.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="YoYoMinDepth"><Description>
Minimum depth while performing the YoYo behavior.
</Description><Units:meter/><Value>2.5</Value></DefineArg><DefineArgName="YoYoMaxDepth"><Description>
Maximum depth while performing the YoYo behavior.
</Description><Units:meter/><Value>5</Value></DefineArg><DefineArgName="YoYoMinAltitude"><Description>
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
</Description><Units:meter/><Value>4</Value></DefineArg><DefineArgName="YoYoUpPitch"><Description>
Vehicle up pitch while performing the YoYo behavior.
</Description><Units:degree/><Value>15</Value></DefineArg><DefineArgName="YoYoDownPitch"><Description>
Vehicle down pitch while performing the YoYo behavior.
</Description><Units:degree/><Value>-15</Value></DefineArg><DefineArgName="BuoyancyNeutral"><Description>
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
</Description><Control:VerticalControl.buoyancyNeutral/></DefineArg><DefineArgName="MassDefault"><Description>
Static setting for mass during the mission. Set to NaN mm for active
mass position
</Description><Control:VerticalControl.massDefault/></DefineArg><DefineArgName="MinAltitude"><Description>
Minimum height above the sea floor for the entire mission.
</Description><Units:meter/><Value>2</Value></DefineArg><DefineArgName="MaxDepth"><Description>
Maximum depth for the entire mission.
</Description><Units:meter/><Value>8</Value></DefineArg><DefineArgName="MinOffshore"><Description>
Minimum offshore distance for the entire mission.
</Description><Units:meter/><Value>1</Value></DefineArg><TimeoutDuration="MissionTimeout"/><DefineArgName="MicromodemCommsInterval"><Description>
How often to trigger Umodem communications
</Description><Units:minute/><Value>2</Value></DefineArg><DefineArgName="DetachDepth"><Description>
Desired vehicle depth when leaving the dock.
</Description><Units:meter/><Value>4.5</Value></DefineArg><DefineArgName="DetachBounceTimeout"><Description>
Time duration to keep the thruster engaged to bounce/slingshot off the
dock.
</Description><Units:second/><Value>20</Value></DefineArg><DefineArgName="TransponderCode"><Description>
Transponder Address.
</Description><Units:count/><Value>2</Value></DefineArg><DefineArgName="TrackingUpdatePeriod"><Description>
How long to wait between acoustic queries.
</Description><Units:second/><Value>2.5</Value></DefineArg><DefineArgName="NumberOfPings"><Description>
Number of pings requested each time.
</Description><Units:count/><Value>1</Value></DefineArg><InsertFilename="Insert/Science.xml"><Description>
Most missions will run the science sensors.
</Description><RedefineArgName="PeakDetectChlActive"><True/></RedefineArg></Insert><InsertFilename="Insert/StandardEnvelopes.xml"/><Assign><Sequence/><ArgName="StandardEnvelopes:MinAltitude"/><ArgName="MinAltitude"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MaxDepth"/><ArgName="MaxDepth"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MinOffshore"/><ArgName="MinOffshore"/></Assign><AggregateId="Detach"><Sequence/><TimeoutDuration="DetachTimeout"><SyslogSeverity="Important">Timed out trying to detach from dock. Stopping mission.</Syslog><Guidance:Execute><Sequence/><Setting><Guidance:Execute.command/><String>stop</String></Setting></Guidance:Execute></Timeout><SyslogSeverity="Important">Detaching from dock.</Syslog><!-- Turn on tracking so we get some ranges to see how far we are from the dock --><Estimation:TrackAcousticContact><Parallel/><Setting><Estimation:TrackAcousticContact.contactLabelSetting/><ArgName="TransponderCode"/></Setting><Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><ArgName="NumberOfPings"/></Setting><Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><ArgName="TrackingUpdatePeriod"/></Setting></Estimation:TrackAcousticContact><!-- Time to leave the dock! --><Dock:Undock><Sequence/></Dock:Undock></Aggregate><AggregateId="Sci2"><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.massPosition/><ArgName="MassDefault"/></Setting></Guidance:Pitch><Guidance:Buoyancy><Parallel/><Setting><Guidance:Buoyancy.position/><ArgName="BuoyancyNeutral"/></Setting></Guidance:Buoyancy><Guidance:SetSpeed><Parallel/><Setting><Guidance:SetSpeed.speed/><ArgName="Speed"/></Setting></Guidance:SetSpeed><Guidance:DepthEnvelope><Description>
Another depth envelope for the YoYo behavior. This envelope
should fall within the limits of the standard safety envelopes
in Insert/StandardEnvelopes.xml in order to avoid commanding
high pitch angles for depth-terminated YoYos.
</Description><Parallel/><Setting><Guidance:DepthEnvelope.minDepth/><ArgName="YoYoMinDepth"/></Setting><Setting><Guidance:DepthEnvelope.maxDepth/><ArgName="YoYoMaxDepth"/></Setting><Setting><Guidance:DepthEnvelope.downPitch/><ArgName="YoYoDownPitch"/></Setting><Setting><Guidance:DepthEnvelope.upPitch/><ArgName="YoYoUpPitch"/></Setting></Guidance:DepthEnvelope><Guidance:AltitudeEnvelope><Description>
Another altitude envelope for the YoYo behavior. This envelope
should fall within the limits of the standard safety envelopes
in Insert/StandardEnvelopes.xml in order to avoid commanding
high pitch angles for bottom-terminated YoYos.
</Description><Parallel/><Setting><Guidance:AltitudeEnvelope.minAltitude/><ArgName="YoYoMinAltitude"/></Setting><Setting><Guidance:AltitudeEnvelope.upPitch/><ArgName="YoYoUpPitch"/></Setting></Guidance:AltitudeEnvelope><Guidance:YoYo><Parallel/><Setting><Guidance:YoYo.downPitch/><ArgName="YoYoDownPitch"/></Setting><Setting><Guidance:YoYo.upPitch/><ArgName="YoYoUpPitch"/></Setting></Guidance:YoYo><AggregateId="Lap"><SequenceRepeat="Repeat"/><InsertFilename="Insert/MicromodemComms.xml"Id="MicromodemComms"><RedefineArgName="CommsInterval"><ArgName="MicromodemCommsInterval"/></RedefineArg></Insert><AggregateId="Wpt1"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat1"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon1"/></Setting><Setting><Guidance:Waypoint.captureRadius/><ArgName="CaptureRadius"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt2"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat2"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon2"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt3"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat3"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon3"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt4"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat4"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon4"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt5"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat5"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon5"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt6"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat6"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon6"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="Wpt7"><Sequence/><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Lat7"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Lon7"/></Setting></Guidance:Waypoint></Aggregate></Aggregate></Aggregate></Mission>