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Engineering/HotBunking/sampling_vehicle.xml

Mission ID: sampling_vehicle

Mission Path: Engineering/HotBunking/sampling_vehicle.xml

(No description)

Arguments

MissionTimeout

MissionTimeout = 2 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications

Lat

Lat = NaN degree

Latitude of waypoint to start drifting. If NaN, start drifting at the current position.

Lon

Lon = NaN degree

Longitude of waypoint to start drifting. If NaN, start drifting at the current position.

Depth

Depth = 30 meter

Depth held during drift mode

ApproachDepth

ApproachDepth = 15 meter

Depth for initial approach to station.

ApproachSpeed

ApproachSpeed = 1.0 meter_per_second

Vehicle transit speed.

DepthDeadband

DepthDeadband = 2 meter

How much vertical drift from the specified depth is allowed in drift mode

MinAltitude

MinAltitude = 5 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 45 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

Output

RelievedOfDuty

RelievedOfDuty = 0 count

Mission variable (don't change). Whether the relief vehicle has showed up and communicated its intent to relieve this sampling vehicle.

Inserts

Insert/Science.tl

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Invoked Module Behaviors

Guidance:Buoyancy

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint