Engineering/hotBunk.tl¶
Mission ID: hotBunk
Mission Path: Engineering/hotBunk.tl
Home to target and, when within ContactDistance, perform a hockey stop (rudder hard over, speed 0) and wait for settle time to expire at ContactDepth. Ideally this mission would be used in conjunction with the scheduler in order to kick off another mission underwater once the settle time has expired.
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum length of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
How often to surface for commumications
ContactLabel¶
ContactLabel = 9 count
The acoustic address of the asset to be tracked
ContactDepth¶
ContactDepth = 10 meter
The depth of the asset to be tracked
ContactDistance¶
ContactDistance = 50 meter
How close to get before stopping
TrackingUpdatePeriod¶
TrackingUpdatePeriod = 5 second
How long to wait between acoustic queries.
NumberOfPings¶
NumberOfPings = 1 count
Number of pings requested each time.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
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.
SettleTime¶
SettleTime = 10 minute
Wait this long to settle after stopping the prop
CenterLatitude¶
CenterLatitude = 36.797 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 = -121.847 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.
CircleRadius¶
CircleRadius = 25 meter
Radius of circle around acoustic contact during wait time
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.
Output¶
CenterTouched¶
CenterTouched = false
Flag to indicate center lon/lat was updated.
Inserts¶
Insert/Science.tl¶
Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.