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Deprecated/Science/acoustic_keepstation_camera.xml

Mission ID: acoustic_keepstation_camera

Mission Path: Deprecated/Science/acoustic_keepstation_camera.xml

This mission trackes an acoustic contact and keeps station in a defined radius. Lights switch between red/white every LightDeltaTime minutes.

Arguments

MissionTimeout

MissionTimeout = 4 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 30 minute

Surface for communications interval

MaxDepth

MaxDepth = 50 meter

Maximum depth for the entire mission.

MinAltitude

MinAltitude = 7 meter

Minimum altitude for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

Depth

Depth = 30 meter

Depth held during drift mode

ApproachDepth

ApproachDepth = 30 meter

Depth for initial approach to station.

Speed

Speed = 0.75 meter_per_second

Vehicle transit speed.

Radius

Radius = 200 meter

Radius around waypoint to hold.

CenterLatitude

CenterLatitude = NaN degree

The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

CenterLongitude

CenterLongitude = NaN degree

The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

LightDeltaTime

LightDeltaTime = 5.0 minute

Period of red versus white lights.

AcousticContactLabel

AcousticContactLabel = 0 count

The acoustic address of the asset to be tracked

TrackingUpdatePeriod

TrackingUpdatePeriod = 60 second

How long to wait between acoustic queries

AcousticContactTimeout

AcousticContactTimeout = 1 hour

If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications. Set longer than MissionTimeout to effectively disable.

AcousticTargetDepth

AcousticTargetDepth = NaN meter

Depth of acoustic target if known and fixed (or nearly fixed). For example, if the acoustic target is a Wave Glider, set it to zero. This will improve 2D projected position estimates in the Earth reference frame. Defaults to NaN.

NumberOfPings

NumberOfPings = 1 count

Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)

NumberOfFixesLowPass

NumberOfFixesLowPass = 4 count

Number of fixes to average to produce smoothed lat/lon/dep output (initialized to 4).

NumberOfStartingFixesToIgnore

NumberOfStartingFixesToIgnore = 8 count

Number of fixes to ignore at the start of mission (as the vehicle just leaves surface, contact's location estimate especailly bearing can be erroneous. Initialized to 8, corresponding to 2 minutes if query interval TrackingUpdatePeriod = 15 s.

KwpHeading

KwpHeading = 0.010 radian_per_meter

Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)

DepthDeadband

DepthDeadband = 4 meter

How much vertical drift from the specified depth is allowed in drift mode

Output

ContactLatitudeLowpass

ContactLatitudeLowpass = NaN degree

Low-pass filtered latitude of contact (initialized to NaN).

ContactLongitudeLowpass

ContactLongitudeLowpass = NaN degree

Low-pass filtered longitude of contact (initialized to NaN).

CenterTouched

CenterTouched = false

Flag to indicate center lon/lat was updated.

LightsOff

LightsOff = 0 count

Elapsed time from last time the light color was switched.

RedLight

RedLight = 1 count

Elapsed time from last time the light color was switched.

WhiteLight

WhiteLight = 2 count

Elapsed time from last time the light color was switched.

LightCmd

LightCmd = 0 count

Indicates light color that should be turned on (default is red to start so we don't scare the fish).

DoingComms

DoingComms = true

Indicates vehicle is descending form the surface.

Inserts

Insert/Science.tl

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Insert/AbortDrift.tl

redefineArg AcousticTimeout = AcousticContactTimeout

Invoked Module Behaviors

Estimation:Tracking

Guidance:Buoyancy

Guidance:KeepStation

Guidance:Mass

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint