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Engineering/lineCaptureHomingUpdate.xml

Mission ID: lineCaptureHoming

Mission Path: Engineering/lineCaptureHomingUpdate.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, 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.

Arguments

MissionTimeout

MissionTimeout = 4 hour

Maximum length of mission

NeedCommsTime

NeedCommsTime = 60 minute

How often to surface for commumications

Repeat

Repeat = 1 count

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

DockLat

DockLat = 36.7436 degree

Latitude of docking station waypoint.

DockLon

DockLon = -121.8800 degree

Longitude of docking station waypoint.

StartLat

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

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

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

CameraRange = 25.0 meter

Range to activate the camera payload.

DockRange

DockRange = 4.0 meter

Minimum range to continue to update heading being driven.

UpdateNav

UpdateNav = false

When true, the mission updates the vehicle's position to DockLat/Lon when it comes within DockRange from the transponder.

AcousticContactTimeout

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

TerminalGuidanceTimeout = 30 minute

Maximum time duration for running in terminal guidance mode.

DockTimeout

DockTimeout = 60 second

Time duration for running in Dock mode.

RolloutTimeout

RolloutTimeout = 12 minute

Drive on your last heading for this long after approaching within minimum (dock) range.

HoldAltitude

HoldAltitude = 7 meter

Desired vehicle altitude to maintain.

InvalidAltitudeTimeout

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

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

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

TransponderCode = 2 count

Transponder Address.

TrackingUpdatePeriod

TrackingUpdatePeriod = 0.1 second

How long to wait between acoustic queries

NumberOfPings

NumberOfPings = 1 count

Number of pings requested each time.

Speed

Speed = 1 meter_per_second

Thruster speed for the entier mission.

DepthDeadband

DepthDeadband = 0.0 meter

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.

Output

HomingActive

HomingActive = true

Mission variable (don't change). The mission sets this to true when the vehicle is homing.

CameraRequested

CameraRequested = false

Mission variable (don't change). The mission sets this to true after camera is requested (prevents multipul req).

DiveMode

DiveMode = 0 count

Mission variable (don't change). The mission sets this variable to switch between dive modes.

DoingComms

DoingComms = 0 count

Mission variable (don't change). The mission will run in this to mode when running surface comms.

InitialDive

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

MaintainAltitude = 2 count

Mission variable (don't change). The mission will run in this mode to dive the vehicle at a commanded altitude.

DetachFromDock

DetachFromDock = 3 count

Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatches.

Inserts

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Invoked Module Behaviors

Dock:SetNav

Estimation:TrackAcousticContact

Guidance:AltitudeServo

Guidance:Buoyancy

Guidance:Execute

Guidance:Mass

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint