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