Skip to content
Page auto-generated from XML file.

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

Inserts

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Invoked Module Behaviors

Estimation:TrackAcousticContact

Guidance:Circle

Guidance:Mass

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint