Engineering/DAT_line_with_circles.xml
¶
Mission ID: DAT_line_with_circles
Mission Path: Engineering/DAT_line_with_circles.xml
The mission runs a 500 meter line North from (36.8141, -121.82773), circles, then returns on the same line and circles again. The vehicle will repeat this lap at 4, 8, 10, 12, 16, and 20 meters altitude. At the end of the mission, the vehicle transits to the nominal location of the acoustic modem, then circles at 32 meters depth and 75 meters radius.
Arguments¶
MinAltitude¶
MinAltitude = 4 meter
Minimum altitude for the entire mission.
MaxDepth¶
MaxDepth = 85 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2000 meter
Minimum offshore distance for the entire mission.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
MissionTimeout¶
MissionTimeout = 4 hour
Maximum duration of mission
MassDefault¶
MassDefault = Control:VerticalControl.massDefault
Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file.
BuoyancyNeutral¶
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file.
WpCloseLat¶
WpCloseLat = 36.8137 degree
Latitude of waypoint closest to MBARI.
WpCloseLon¶
WpCloseLon = -121.8240 degree
Longitude of waypoint closest to MBARI.
WpFarLat¶
WpFarLat = 36.8164033315 degree
Latitude of waypoint farthest from MBARI.
WpFarLon¶
WpFarLon = -121.8240 degree
Longitude of waypoint farthest from MBARI.
WpCloserLat¶
WpCloserLat = 36.8130 degree
Latitude of set-up waypoint closest to MBARI.
WpCloserLon¶
WpCloserLon = -121.8240 degree
Longitude of set-up waypoint closest to MBARI.
WpFartherLat¶
WpFartherLat = 36.8173 degree
Latitude of set-up waypoint farthest from MBARI.
WpFartherLon¶
WpFartherLon = -121.8240 degree
Longitude of set-up waypoint farthest from MBARI.
WpAMLat¶
WpAMLat = 36.8151 degree
Latitude of waypoint with acoustic modem.
WpAMLon¶
WpAMLon = -121.8257 degree
Longitude of waypoint with acoustic modem.
ApproachDepth¶
ApproachDepth = 10.0 meter
Depth for initial approach.
ApproachTimeout¶
ApproachTimeout = 30 minute
Maximum duration of initial approach
ApproachNeedCommsTime¶
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¶
NeedCommsTime = 3 day
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¶
Repeat = 2 count
Number of times to repeat each lap.
LowestAltitude¶
LowestAltitude = 4.0 meter
Closest approach to bottom.
LowAltitude¶
LowAltitude = 8.0 meter
Altitude for second lap.
MiddleAltitude¶
MiddleAltitude = 10.0 meter
Altitude for third lap.
HighAltitude¶
HighAltitude = 12.0 meter
Altitude for fourth lap.
HigherAltitude¶
HigherAltitude = 16.0 meter
Altitude for fifth lap.
HighestAltitude¶
HighestAltitude = 20.0 meter
Altitude for sixth lap.
kpAltitude¶
kpAltitude = -0.08 none
PID loop parameter for following the bottom.
kiAltitude¶
kiAltitude = 0 none
PID loop parameter for following the bottom.
kdAltitude¶
kdAltitude = 0 none
PID loop parameter for following the bottom.
LegTimeout¶
LegTimeout = 30 minute
Maximum duration of leg in one direction.
LapTimeout¶
LapTimeout = 1 hour
Maximum duration of lap in both directions.
RudderAngle¶
RudderAngle = 3 degree
Constant rudder angle to hold while circling at the ends of the line.
WaitDuration¶
WaitDuration = 360 second
Used in constant rudder angle circling.
CircleDepth¶
CircleDepth = 32 meter
Depth to circle at end of mission.
CircleRadius¶
CircleRadius = 75 meter
Radius of circle to run around acoustic modem at end of mission.
CircleRepeat¶
CircleRepeat = 3 count
Maximum number of times to circle a given waypoint.
CircleTimeout¶
CircleTimeout = 1 hour
Timeout for each circle.
YoYoMinDepth¶
YoYoMinDepth = 2.0 meter
Minimum depth during yo-yo's.
YoYoMaxDepth¶
YoYoMaxDepth = 42.0 meter
Maximum depth during yo-yo's.
YoYoMinAltitude¶
YoYoMinAltitude = 6.0 meter
Min altitude while in yo-yo mode.
YoYoUpPitch¶
YoYoUpPitch = 20.0 degree
Pitch when yo-yo's are ascending.
YoYoDownPitch¶
YoYoDownPitch = -20.0 degree
Pitch when yo-yo's are descending.
Output¶
None defined
Inserts¶
Insert/Surface.xml
¶
Insert/SurfaceCommsSplit.xml
¶
Insert/SurfaceCommsShort.xml
¶
Insert/SurfaceGPS.xml
¶
Insert/SurfaceSafety.xml
¶
Insert/CircleWaypoint.xml
¶
When called, circle the given waypoint.
redefineArg Timeout = CircleTimeout
redefineArg Radius = CircleRadius