Engineering/HotBunking/relief_vehicle.xml¶
Mission ID: reliefVehicle
Mission Path: Engineering/HotBunking/relief_vehicle.xml
Home to the sampling vehicle's transponder while maintaining depth. The mission sequence: (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance, fast: home to target using DUSBL tracking data (3) Terminal guidance, slow: continue homing to target at a slower speed (4) Drift: maintain depth with zero speed
Arguments¶
MissionTimeout¶
MissionTimeout = 4 hour
Maximum length of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
How often to surface for commumications
MinAltitude¶
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
Lat¶
Lat = 36.693509 degree
Latitude of sampling vehicle waypoint.
Lon¶
Lon = -121.936568 degree
Longitude of sampling vehicle waypoint.
SamplingVehicleDepth¶
SamplingVehicleDepth = 30 meter
Depth maintained for the entire mission.
DepthDeadband¶
DepthDeadband = 0.0 meter
MidcourseSpeed¶
MidcourseSpeed = 1 meter_per_second
Thruster speed during Midcourse guidance.
MidcourseTimeout¶
MidcourseTimeout = 1 hour
Maximum time duration for running in midcourse guidance mode.
CircleRadius¶
CircleRadius = 25 meter
Radius of circle around the dock waypoint.
CircleMaxError¶
CircleMaxError = 1 meter
If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.
CircleTurnToPort¶
CircleTurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
TransponderCode¶
TransponderCode = 8 count
Transponder Address.
TerminalRange¶
TerminalRange = 650.0 meter
Range at which the vehicle should switch from navigating to the target wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???.
FinalApproachSpeed¶
FinalApproachSpeed = 0.5 meter_per_second
Thruster speed while close to the sampling vehicle.
FinalApproachRange¶
FinalApproachRange = 100.0 meter
Range-to-sampling-vehicle at which to slow way down.
SuccessRange¶
SuccessRange = 15.0 meter
Minimum range to continue to update heading being driven.
TrackingUpdatePeriod¶
TrackingUpdatePeriod = 0.1 second
How long to wait between acoustic queries
NumberOfPings¶
NumberOfPings = 1 count
Number of pings requested each time.
AcousticTimeout¶
AcousticTimeout = 5 minute
Maximum time duration allowed between pings during terminal guidance. If expired, the vehicle will regress to Midcourse guidance.
WaitForAckTimeout¶
WaitForAckTimeout = 5 minute
How long to wait for message acknowledgement before restarting.
HoldDuration¶
HoldDuration = 120 minute
How long to drift in place after achieving target location.
Range¶
Range = NaN meter
ElapsedRange¶
ElapsedRange = 0 minute
Output¶
HomingActive¶
HomingActive = true
Mission variable (don't change). The mission sets this to true when the vehicle is homing.
DesiredSpeed¶
DesiredSpeed = 0 meter_per_second
Mission variable (don't change). The mission sets this variable to high or low speed during terminal guidance.
AckReceived¶
AckReceived = false
Mission variable (don't change). An ACK flag with a timestamp used to detect when new ACK signals have arrived.
TrueVar¶
TrueVar = true
A True boolean, defined as an arg because you can't directly place values in a call to SendData.
Abort¶
Abort = 0 count
Mission variable (don't change). Terminate this mission.
Success¶
Success = 1 count
Mission variable (don't change). The mission will run in this mode when after successfully relieving the sampling vehicle.
Midcourse¶
Midcourse = 2 count
Mission variable (don't change). The mission will run in this mode when approaching the sampling vehicle under Midcourse guidance.
Terminal¶
Terminal = 3 count
Mission variable (don't change). The mission will run in this mode when approaching the sampling vehicle under Terminal guidance.
GuidanceMode¶
GuidanceMode = Midcourse
The guidance mode is the phase of hot-bunking, a member of the enum: Success Abort Midcourse Terminal