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.