Skip to content
Page auto-generated from XML file.

Engineering/portuguese_ledge.xml

Mission ID: portuguese_ledge

Mission Path: Engineering/portuguese_ledge.xml

O ve좵lo nada uma vez ao redor do percurso e depois vem �uperf좩e.

Arguments

MissionTimeout

MissionTimeout = 4 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 120 minute

How often to surface for commumications

DoCommsAtEndOfLap

DoCommsAtEndOfLap = false

Vehicle will surface for comms at end of each waypoint cycle (lap) when true.

AcousticContactTimeout

AcousticContactTimeout = 15 minute

If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore.

Depth

Depth = 50 meter

Depth of flat and level flight during the mission.

Speed

Speed = 1 meter_per_second

Speed of vehicle (relative to water) during the mission.

MaxDepth

MaxDepth = 60 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 4 kilometer

Minimum distance offshore for the entire mission.

MinAltitude

MinAltitude = 5 meter

Minimum height above the sea floor for the entire mission.

MassHold

MassHold = true

Set to True in order to hold mass at default position, False to allow mass to run on its own.

BuoyancyHold

BuoyancyHold = true

Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own.

Repeat

Repeat = 4 count

Number of times the vehicle should try to cycle through waypoints..

Lat1

Lat1 = 36.695944 degree

Latitude of waypoint 1. If nan, waypoint is skipped.

Lon1

Lon1 = -121.945120 degree

Longitude of waypoint 1. If nan, waypoint is skipped.

Lat2

Lat2 = 36.696536 degree

Latitude of waypoint 2. If nan, waypoint is skipped.

Lon2

Lon2 = -121.937544 degree

Longitude of waypoint 2. If nan, waypoint is skipped.

Lat3

Lat3 = 36.693760 degree

Latitude of waypoint 3. If nan, waypoint is skipped.

Lon3

Lon3 = -121.938647 degree

Longitude of waypoint 3. If nan, waypoint is skipped.

Lat4

Lat4 = 36.698094 degree

Latitude of waypoint 4. If nan, waypoint is skipped.

Lon4

Lon4 = -121.940450 degree

Longitude of waypoint 4. If nan, waypoint is skipped.

Lat5

Lat5 = 36.695944 degree

Latitude of waypoint 5. If nan, waypoint is skipped.

Lon5

Lon5 = -121.945120 degree

Longitude of waypoint 5. If nan, waypoint is skipped.

ContactLabel

ContactLabel = 0 count

The acoustic address of the asset to be tracked

ContactDepth

ContactDepth = NaN meter

The acoustic address of the asset to be tracked

TrackingUpdatePeriod

TrackingUpdatePeriod = 60 second

How long to wait between acoustic queries

NumberOfPings

NumberOfPings = 1 count

Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)

Output

None defined

Inserts

Insert/AbortDrift.tl

redefineArg AcousticTimeout = AcousticContactTimeout

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.

redefineArg PeakDetectChlActive = true

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Invoked Module Behaviors

Estimation:TrackAcousticContact

Guidance:Buoyancy

Guidance:Pitch

Guidance:SetSpeed

Guidance:Waypoint