Deprecated/Engineering/lineCaptureDepth.xml
¶
Mission ID: lineCaptureDepth
Mission Path: Deprecated/Engineering/lineCaptureDepth.xml
Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data (4) Dock: final approach using fixed heading.
Arguments¶
MissionTimeout¶
MissionTimeout = 4 hour
Maximum length of mission
NeedCommsTime¶
NeedCommsTime = 240 minute
How often to surface for commumications
MicromodemCommsInterval¶
MicromodemCommsInterval = 5 minute
How often to trigger Umodem communications
Repeat¶
Repeat = 1 count
Number of times the vehicle should try to cycle through the homing sequence.
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 = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
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¶
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/Science.tl
¶
Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.
Insert/StandardEnvelopes.tl
¶
Insert/NeedComms.tl
¶
Insert/MicromodemComms.tl
¶
redefineArg CommsInterval = MicromodemCommsInterval