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