Engineering/circle_portuguese_ledge.xml¶
Mission ID: circle_portuguese_ledge
Mission Path: Engineering/circle_portuguese_ledge.xml
This mission runs a circle around a specified centroid. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact.
Arguments¶
MissionTimeout¶
MissionTimeout = 2.5 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 150 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications
Depth¶
Depth = 50 meter
Mission depth.
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 = 36.696777 degree
The latitude of the center of the circle.
CenterLongitude¶
CenterLongitude = -121.941224 degree
The longitude of the center of the circle.
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 = 218 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.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
SkipComms¶
SkipComms = true
Skip communications at start of mission.
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