The goal of this deployment is to demonstrate onboard capability with the Compact Models code. This demonstration will use the Compact Models trained by HF radar measurements to predict surface currents. This first test case will focus on vehicle localization, comparing position estimates computed with and without benefit of the surface current information. This means that the vehicle will be running the Compact Model code and recording its outputs, but will not be using those outputs in realtime. We want to make sure the outputs are reasonable before we integrate them into the navigation and control loops to let them drive the vehicle.
MinAltitude = 4 meter
Minimum altitude for the entire mission.
MaxDepth = 50 meter
Maximum depth for the entire mission.
MinOffshore = 2000 meter
Minimum offshore distance for the entire mission.
Speed = 1 meter_per_second
MissionTimeout = 48 hour
Maximum duration of mission
MassDefault = Control:VerticalControl.massDefault
Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file.
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file.
WpCloseLat = 36.830 degree
Latitude of waypoint closest to MBARI.
WpCloseLon = -121.870 degree
Longitude of waypoint closest to MBARI.
WpFarLat = 36.87501557446235 degree
Latitude of waypoint farthest from MBARI.
WpFarLon = -121.96713471834381 degree
Longitude of waypoint farthest from MBARI.
WpCircleLat = 36.808 degree
Latitude of waypoint.
WpCircleLon = -121.827 degree
Longitude of waypoint.
ApproachDepth = 10.0 meter
Depth for initial approach.
ApproachTimeout = 4 hour
Maximum duration of initial approach
ApproachNeedCommsTime = 60 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach.
NeedCommsTime = 250 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Set this large to only surface at waypoints.
Repeat = 3 count
Number of times to repeat each lap.
ShallowDepth = 3.0 meter
Depth for shallow run.
MiddleDepth = 6.0 meter
Depth for middle run.
DeepDepth = 9.0 meter
Depth for deep run.
DeepestDepth = 12.0 meter
Depth for deep run.
CircleDepth = 3.0 meter
Depth for circling.
LegTimeout = 4 hour
Maximum duration of leg in one direction.
LapTimeout = 8 hour
Maximum duration of lap in both directions.
CircleRadius = 250 meter
Radius of circle to run at end.
CircleRepeat = 13 count
Maximum number of times to circle the waypoint before going to Default.
CircleTimeout = 1 hour
Timeout for each circle.
YoYoMinDepth = 3.0 meter
Minimum depth during yo-yo's.
YoYoMaxDepth = 23.0 meter
Maximum depth during yo-yo's.
YoYoMinAltitude = 6.0 meter
Min altitude while in yo-yo mode.
YoYoUpPitch = 20.0 degree
Pitch when yo-yo's are ascending.
YoYoDownPitch = -20.0 degree
Pitch when yo-yo's are descending.
When called, circle the given waypoint.
redefineArg Timeout = CircleTimeout
redefineArg Radius = CircleRadius
redefineArg CenterLat = WpCircleLat
redefineArg CenterLon = WpCircleLon