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, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: break off from dock, then nav back to start wp or move away from the target at the last commanded heading () repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude.
MissionTimeout = 4 hour
Maximum length of mission
NeedCommsTime = 60 minute
How often to surface for commumications
Repeat = 1 count
Number of times the vehicle should try to cycle through the homing sequence.
DockLat = 36.7436 degree
Latitude of docking station waypoint.
DockLon = -121.8800 degree
Longitude of docking station waypoint.
StartLat = NaN degree
Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until RolloutTimeout has passed.
StartLon = NaN degree
Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until RolloutTimeout has passed.
TerminalRange = 650.0 meter
Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???.
CameraRange = 25.0 meter
Range to activate the camera payload.
DockRange = 4.0 meter
Minimum range to continue to update heading being driven.
UpdateNav = false
When true, the mission updates the vehicle's position to DockLat/Lon when it comes within DockRange from the transponder.
AcousticContactTimeout = 15 minute
If the vehicle does not receive an acoustic signal for more than this length of time, it will boot out of the homing sequance.
TerminalGuidanceTimeout = 30 minute
Maximum time duration for running in terminal guidance mode.
DockTimeout = 60 second
Time duration for running in Dock mode.
RolloutTimeout = 12 minute
Drive on your last heading for this long after approaching within minimum (dock) range.
HoldAltitude = 7 meter
Desired vehicle altitude to maintain.
InvalidAltitudeTimeout = NaN minute
The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality.
InitDepth = 30 meter
Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range).
InitDepthTimeout = 30 minute
Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired.
TransponderCode = 2 count
TrackingUpdatePeriod = 0.1 second
How long to wait between acoustic queries
NumberOfPings = 1 count
Number of pings requested each time.
Speed = 1 meter_per_second
Thruster speed for the entier mission.
DepthDeadband = 0.0 meter
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
HomingActive = true
Mission variable (don't change). The mission sets this to true when the vehicle is homing.
CameraRequested = false
Mission variable (don't change). The mission sets this to true after camera is requested (prevents multipul req).
DiveMode = 0 count
Mission variable (don't change). The mission sets this variable to switch between dive modes.
DoingComms = 0 count
Mission variable (don't change). The mission will run in this to mode when running surface comms.
InitialDive = 1 count
Mission variable (don't change). The mission will run in this mode when surface comms are done to dive the vehicle to DVL bottom range.
MaintainAltitude = 2 count
Mission variable (don't change). The mission will run in this mode to dive the vehicle at a commanded altitude.
DetachFromDock = 3 count
Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatches.