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Engineering/lineCaptureHoming.xml

Mission ID: lineCaptureHoming

Mission Path: Engineering/lineCaptureHoming.xml

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

Insert/LineCapture.tl

Insert/SetNavAcoustic.tl

Invoked Behaviors

Dock:Docked

Dock:Undock

Estimation:TrackAcousticContact

Guidance:Buoyancy

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint