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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

Insert/Science.xml

Invoked Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:OffshoreEnvelope

Guidance:Pitch

Guidance:PitchServo

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo