Engineering/tritoncam_expanding_donut.tl¶
Mission ID: expanding_donut
Mission Path: Engineering/tritoncam_expanding_donut.tl
Expanding-donut mission for Triton LRAUV.
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 1 hour
How often to surface for communications
MinDepth¶
MinDepth = 10 meter
Minimum depth of the search yoyo envelope (absolute; frontseat-owned).
MaxDepth¶
MaxDepth = 60 meter
Maximum depth of the search yoyo envelope (absolute; frontseat-owned).
CircleMinDepth¶
CircleMinDepth = 10 meter
Minimum depth of the yoyo sub-band while spiraling. Set by backseat via _.CircleMinDepth.
CircleMaxDepth¶
CircleMaxDepth = 60 meter
Maximum depth of the yoyo sub-band while spiraling. Set by backseat via _.CircleMaxDepth.
Speed¶
Speed = 1 meter_per_second
Vehicle speed. Updated by backseat via _.speed_command.
YoYoDownPitch¶
YoYoDownPitch = -15 degree
Vehicle pitch while diving (negative = nose down).
YoYoUpPitch¶
YoYoUpPitch = 15 degree
Vehicle pitch while climbing (positive = nose up).
RudderAngleDonut¶
RudderAngleDonut = 15 degree
Rudder angle applied while spiraling a hotspot. Updated by backseat via _.RudderCommand
DonutCheckInterval¶
DonutCheckInterval = 30 second
How often, while spiraling, to re-check whether the backseat still wants to circle (_.InYoyoCircle). The donut aggregate breaks out as soon as the backseat drops back to transit.
StateUpdateDelay¶
StateUpdateDelay = 1 second
Minimum time delay between state updates to avoid rapid changes.
MinAltitude¶
MinAltitude = 5 meter
MaxSafeDepth¶
MaxSafeDepth = 100 meter
MinOffshore¶
MinOffshore = 1.5 kilometer
Repeat¶
Repeat = 10 count
Number of times to cycle through the waypoint list.
Lat1¶
Lat1 = NaN degree
Latitude of waypoint 1. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon1¶
Lon1 = NaN degree
Longitude of waypoint 1. NaN entries are skipped.
Lat2¶
Lat2 = NaN degree
Latitude of waypoint 2. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon2¶
Lon2 = NaN degree
Longitude of waypoint 2. NaN entries are skipped.
Lat3¶
Lat3 = NaN degree
Latitude of waypoint 3. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon3¶
Lon3 = NaN degree
Longitude of waypoint 3. NaN entries are skipped.
Lat4¶
Lat4 = NaN degree
Latitude of waypoint 4. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon4¶
Lon4 = NaN degree
Longitude of waypoint 4. NaN entries are skipped.
Lat5¶
Lat5 = NaN degree
Latitude of waypoint 5. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon5¶
Lon5 = NaN degree
Longitude of waypoint 5. NaN entries are skipped.
Lat6¶
Lat6 = NaN degree
Latitude of waypoint 6. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon6¶
Lon6 = NaN degree
Longitude of waypoint 6. NaN entries are skipped.
Lat7¶
Lat7 = NaN degree
Latitude of waypoint 7. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon7¶
Lon7 = NaN degree
Longitude of waypoint 7. NaN entries are skipped.
MassHold¶
MassHold = true
Set to True to hold mass at default position.
PublishPeriod¶
PublishPeriod = 2 second
Re-publish period for the .bs* config below.
Strategy¶
Strategy = 3 count
Backseat strategy id (STRATEGY_IDS): 3=expanding_donut.
BsSignalThreshold¶
BsSignalThreshold = 10 count
expanding_donut signal_threshold: per-profile peak to mark a profile "high signal".
BsThreshHighSignalCounts¶
BsThreshHighSignalCounts = 1 count
expanding_donut thresh_high_signal_counts: consecutive high profiles -> start the spiral.
BsThreshLowSignalCounts¶
BsThreshLowSignalCounts = 1 count
expanding_donut thresh_low_signal_counts: consecutive low profiles -> back to transit.
BsMedianWindowSamples¶
BsMedianWindowSamples = 1 count
expanding_donut median_window_samples: median-filter length.
BsMaWindowSeconds¶
BsMaWindowSeconds = 2 second
expanding_donut ma_window_seconds: moving-average window.
BsRudderStart¶
BsRudderStart = 15 degree
expanding_donut rudder_start: tight first ring of the spiral.
BsRudderEnd¶
BsRudderEnd = 3 degree
expanding_donut rudder_end: widest ring of the spiral.
Output¶
None defined