Skip to content
Page auto-generated from XML file.

Demo/DockingTankLineCaptureTest.xml

Mission ID: DockingTankLineCaptureTest

Mission Path: Demo/DockingTankLineCaptureTest.xml

First make the following adjustment to Insert/LineCapture -

+

Add the specific configs to dock.cfg and then the mission will: 1.) Wait timeout for loading in launcher. 2.) Turn on prop and arm for docking if the range is low enough. 4.) Cable present == latch for timeout then release, float up, and end mission.

Arguments

MissionTimeout

MissionTimeout = 7 minute

Maximum length of mission

WaitForLoadTimeout

WaitForLoadTimeout = 9 second

Time to wait prior to turning on the prop.

ElevatorDefault

ElevatorDefault = -4.0 degree

Static setting for elevator.

RudderDefault

RudderDefault = 3.0 degree

Static setting for rudder.

WaitOnDockTimeout

WaitOnDockTimeout = 5 minute

Time duration to wait on the dock after a successful line capture.

TransponderCode

TransponderCode = Dock:Dock.transponderCode

Transponder Address.

TrackingUpdatePeriodMidcourse

TrackingUpdatePeriodMidcourse = 60 second

How long to wait between acoustic queries.

TrackingUpdatePeriodTerminal

TrackingUpdatePeriodTerminal = 2.5 second

How long to wait between acoustic queries.

NumberOfPings

NumberOfPings = 1 count

Number of pings requested each time.

NumPingsUSBL

NumPingsUSBL = 5 count

Number of pings requested while in USBL mode range.

RangeUSBL

RangeUSBL = 40 meter

USBL mode range.

MinAltitude

MinAltitude = 0.1 meter

Minimum height above the sea floor for the entire mission.

MinOffshore

MinOffshore = 0.0001 meter

Minimum offshore distance for the entire mission.

TrackingPeriod

TrackingPeriod = 60 second

Mission variable (don't change). The mission sets this variable to update the how long to wait between acoustic queries.

Output

DockingDepth

DockingDepth = 1.22 meter

How deep in the tank do you want to swim?

Mode

Mode = -1 count

Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert.

NumPings

NumPings = 1 count

Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode.

Inserts

Insert/LineCapture.tl

Insert/SetNavAcoustic.tl

Invoked Module Behaviors

Dock:Docked

Dock:Undock

Estimation:TrackAcousticContact

Guidance:Buoyancy

Guidance:Pitch

Guidance:Point

Guidance:Wait