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Engineering/lineCaptureDepth.xml

Mission ID: lineCaptureDepth

Mission Path: Engineering/lineCaptureDepth.xml

Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data (4) Dock: final approach using fixed heading.

Arguments

MissionTimeout

MissionTimeout = 4 hour

Maximum length of mission

NeedCommsTime

NeedCommsTime = 240 minute

How often to surface for commumications

MicromodemCommsInterval

MicromodemCommsInterval = 5 minute

How often to trigger Umodem communications

Repeat

Repeat = 1 count

Number of times the vehicle should try to cycle through the homing sequence.

WaitOnDockTimeout

WaitOnDockTimeout = 5 minute

Time duration to wait on the dock after a successful line capture.

TransponderCode

TransponderCode = Dock:Dock.transponderCode

Transponder Address.

TrackingUpdatePeriodMidcourse

TrackingUpdatePeriodMidcourse = 60 second

How long to wait between acoustic queries.

TrackingUpdatePeriodTerminal

TrackingUpdatePeriodTerminal = 2.5 second

How long to wait between acoustic queries.

NumberOfPings

NumberOfPings = 1 count

Number of pings requested each time.

NumPingsUSBL

NumPingsUSBL = 5 count

Number of pings requested while in USBL mode range.

RangeUSBL

RangeUSBL = 40 meter

USBL mode range.

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.

TrackingPeriod

TrackingPeriod = 60 second

Mission variable (don't change). The mission sets this variable to update the how long to wait between acoustic queries.

Output

Mode

Mode = -1 count

Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert.

NumPings

NumPings = 1 count

Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode.

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.

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Insert/MicromodemComms.tl

redefineArg CommsInterval = MicromodemCommsInterval

Insert/LineCapture.tl

Insert/SetNavAcoustic.tl

Invoked Module Behaviors

Dock:Docked

Dock:Undock

Estimation:TrackAcousticContact