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Engineering/circle_acoustic_backseat.tl

Mission ID: circle_acoustic_backseat

Mission Path: Engineering/circle_acoustic_backseat.tl

This mission runs a circle around a specified acoustic contact. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact. The tracking component then calculates the position of the contact to update the center of the circle. When the vehicle surfaces and updates its own position with GPS, it queries the contact again, then sends the contact position to shore.

Arguments

MissionTimeout

MissionTimeout = 2 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 10 minute

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

AcousticContactTimeout

AcousticContactTimeout = 15 minute

If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore.

ContactLabel

ContactLabel = 0 count

The acoustic address of the asset to be tracked

ContactDepth

ContactDepth = NaN meter

The acoustic address of the asset to be tracked

CenterLatitude

CenterLatitude = 36.81544 degree

The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

CenterLongitude

CenterLongitude = -121.82506 degree

The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

CenterNorthingsDelta

CenterNorthingsDelta = 0 meter

Desired change in latitude to achieve, expressed as a distance.

CenterEastingsDelta

CenterEastingsDelta = 0 meter

Desired change in longitude to achieve, expressed as a distance.

CircleRadius

CircleRadius = 300 meter

Radius of circle around acoustic contact during wait time

TrackingUpdatePeriod

TrackingUpdatePeriod = 15 second

How long to wait between acoustic queries

NumberOfPings

NumberOfPings = 1 count

Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)

CircleMaxError

CircleMaxError = 10 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.

YoYoMinDepth

YoYoMinDepth = 3 meter

Minimum depth during yo-yo's.

YoYoMaxDepth

YoYoMaxDepth = 33 meter

Maximum depth during yo-yo's.

YoYoMinAltitude

YoYoMinAltitude = 10 meter

Min altitude while in yo-yo mode.

YoYoPitch

YoYoPitch = 20 degree

Pitch (plus and minus) for yo-yo behavior.

Speed

Speed = 1 meter_per_second

Vehicle speed.

KwpHeading

KwpHeading = 0.010 radian_per_meter

Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)

MinAltitude

MinAltitude = 7 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 105 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 1.5 kilometer

Minimum offshore distance for the entire mission.

Output

None defined

Inserts

Insert/AbortDrift.tl

redefineArg AcousticTimeout = AcousticContactTimeout

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/Science.tl

Get science data, including PeakDetectChl

redefineArg PeakDetectChlActive = true

Insert/BackseatDriver.tl

Insert/PowerOnly.tl

Invoked Module Behaviors

Estimation:Tracking

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:YoYo