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Deprecated/Engineering/triangle_control_speed_onelap.xml

Mission ID: triangle_control_speed_onelap

Mission Path: Deprecated/Engineering/triangle_control_speed_onelap.xml

(No description)

Arguments

Wpt1Lat

Wpt1Lat = 36.815 degree

Wpt1Lon

Wpt1Lon = -121.869 degree

Speed1

Speed1 = 1 meter_per_second

Speed for leg 1

Wpt2Lat

Wpt2Lat = 36.829 degree

Wpt2Lon

Wpt2Lon = -121.886 degree

Speed2

Speed2 = .75 meter_per_second

Speed for leg 2

Wpt3Lat

Wpt3Lat = 36.816 degree

Wpt3Lon

Wpt3Lon = -121.883 degree

Speed3

Speed3 = .60 meter_per_second

Speed for leg 3

MaxDepth

MaxDepth = 37 meter

Maximum depth for the entire mission.

MinAltitude

MinAltitude = 7.0 meter

Minimum height above the sea floor for the entire mission.

DepthShallow

DepthShallow = 15 meter

Depth for transit

DepthDeep

DepthDeep = 32 meter

Depth for test

NeedCommsTime

NeedCommsTime = 50 minute

Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications

TimeoutDuration

TimeoutDuration = 250 minute

Maximum length of mission

MassHold

MassHold = true

Set to True in order to hold mass at user defined position, False to allow mass to run on its own.

MassDefault

MassDefault = Control:VerticalControl.massDefault

Static setting for mass when the mass position is held.

massDeadband

massDeadband = 0.0 millimeter

Sets the value of VerticalControl.massDeadband

BuoyancyHold

BuoyancyHold = true

Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own.

BuoyancyNeutral

BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

Buoyancy bladder position when buoyancy is held. Defaults to buoyancyNeutral setting in the Config/Control.cfg file.

ElevatorHold

ElevatorHold = false

Set to True in order to hold the elevators at neutral position, False to allow them to run on their own.

ElevatorDefault

ElevatorDefault = 0.0 degree

Static setting for elevator if elevator position is held.

elevDeadband

elevDeadband = 0.0 degree

Sets the value of VerticalControl.elevDeadband

ElevIntInDepthMode

ElevIntInDepthMode = false

Sets VerticalControl.useElevIntInDepthMode value

StopDepthExcursion

StopDepthExcursion = Control:VerticalControl.stopDepthExcursion

Sets VerticalControl.stopDepthExcursion within the triangle, but not during the transit.

kdPitchMass

kdPitchMass = Control:VerticalControl.kdPitchMass

Sets the value of VerticalControl.kdPitchMass

kiDepthOff

kiDepthOff = Control:VerticalControl.kiDepthOff

Sets the value of VerticalControl.kiDepthOff

kiPitchMass

kiPitchMass = Control:VerticalControl.kiPitchMass

Sets the value of VerticalControl.kiPitchMass

kpPitchMass

kpPitchMass = Control:VerticalControl.kpPitchMass

Sets the value of VerticalControl.kpPitchMass

maxDiveAccel

maxDiveAccel = Control:VerticalControl.maxDiveAccel

Sets the value of VerticalControl.maxDiveAccel

Output

None defined

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:GoToSurface

Guidance:OffshoreEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:Waypoint