Engineering/lineCaptureHoming.tl¶
Mission ID: lineCaptureHoming
Mission Path: Engineering/lineCaptureHoming.tl
Home to transponder while maintaining altitude or depth. Altitude gets priority if non nan. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using USBL 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.
TrackingNumFixesLowPassFilter¶
TrackingNumFixesLowPassFilter = 5 count
Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter.
NumberOfPings¶
NumberOfPings = 1 count
Number of pings requested each time.
NumPingsUSBL¶
NumPingsUSBL = 1 count
Number of pings requested while in USBL mode range.
RangeUSBL¶
RangeUSBL = 40 meter
USBL mode range.
CameraRange¶
CameraRange = 50.0 meter
Range to activate the camera payload.
TrackingNumFixesLowPassFilterUSBL¶
TrackingNumFixesLowPassFilterUSBL = 5 count
Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter.
DockingAltitude¶
DockingAltitude = NaN meter
Docking altitude. Ignored when NaN and used over depth when a valid altitude is set.
InvalidAltitudeTimeout¶
InvalidAltitudeTimeout = NaN minute
The mission will use the last good depth command if no valid altitude readings are received within this specified time duration.
AltitudeDepthLimit¶
AltitudeDepthLimit = NaN meter
Vehicle will not be commanded deeper than this regardless of altitude command.
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.
SpiralRudderAngle¶
SpiralRudderAngle = 13 degree
Rudder angle to use while doing initial dive.
ApproachDepthTimeout¶
ApproachDepthTimeout = 20 minute
Maximum wait time for the vehicle to reach the target depth on initial dive.
Lat1¶
Lat1 = NaN degree
Latitude of rollout waypoint. If nan, waypoint is skipped.
Lon1¶
Lon1 = NaN degree
Longitude of rollout waypoint. If nan, waypoint is skipped.
CaptureRadius¶
CaptureRadius = NaN meter
How close to call the waypiont behavior satisfied. Nan uses default value.
MidcourseDepth¶
MidcourseDepth = Dock:LineCapture.midcourseDepth
Desired vehicle depth when navigating to dock WP (during midcourse phase).
MidcourseSpeed¶
MidcourseSpeed = Dock:LineCapture.midcourseSpeed
Speed during initial dive and waypoint.
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.
LowPassFilterWinSize¶
LowPassFilterWinSize = 1 count
Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode.
LowPassFilterWinOverlap¶
LowPassFilterWinOverlap = true
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