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.
StayOnDock¶
StayOnDock = false
If true, mission terminates after WaitOnDockTimeout following a successful catpture, without executing the undock sequence.
TrySlide¶
TrySlide = false
If true, once docked, try to slide down the docking rod until charging and comms are acheived
SlideRetries¶
SlideRetries = 2 count
If using slide mode, max number of times to try the slide sequence before giving up
SlideSinkDuration¶
SlideSinkDuration = 5 minute
Time duration to slide down by sinking during each slide mode iteration
SlideCloseDuration¶
SlideCloseDuration = 5 minute
Time duration to close arm to check for power/comms during each slide mode iteration
SlideDriveDuration¶
SlideDriveDuration = 2 minute
Time duration for actions that involve the prop (either bumping or continuous driving) during each slide mode iteration
TryWiggle¶
TryWiggle = false
If true, uses mass shifter to try to wiggle down the rod after sinking in slide mode
SlideWiggleCount¶
SlideWiggleCount = 2 count
Number of mass shifter wiggles to try during each slide mode iteration
TryJog¶
TryJog = false
If true, bumps prop repeatedly in forward and reverse after sinking in slide mode
JogLength¶
JogLength = 3 second
Length of time to run the prop in each direction while jogging in slide mode
TryWhirl¶
TryWhirl = false
If true, sets elevators to dive, rudders to turn, and drives continuously after sinking in slide mode
WhirlSpeed¶
WhirlSpeed = 1 meter_per_second
Speed at which to drive while whirling in slide mode
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.
TrackingUpdatePeriodDocked¶
TrackingUpdatePeriodDocked = 2 minute
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.
LightRange¶
LightRange = 50.0 meter
Range to activate the dock light.
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.
ApproachDepthTimeout¶
ApproachDepthTimeout = 20 minute
Maximum wait time for the vehicle to reach the target depth on initial dive.
ApproachDepthRate¶
ApproachDepthRate = 0.05 meter_per_second
Descent depth rate (positive depth is down). Used only as a smoothing parameter.
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