Engineering/tail_acoustic_contact.tl¶
Mission ID: follow_that_car
Mission Path: Engineering/tail_acoustic_contact.tl
Home to target when outside TailDistance, otherwise drift. Stay close... but not too close. U+1F575
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum length of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
How often to surface for communications
ContactLabel¶
ContactLabel = 9 count
The acoustic address of the asset to be tracked
ContactDepth¶
ContactDepth = 2 meter
The depth of the asset to be tracked
TailDistance¶
TailDistance = 10 meter
How close to get before stopping. DAT.ignoreElevationAngle will be set by the mission, so this distance is horizontal range, not slant range.
TailDeadband¶
TailDeadband = 10 meter
How much additional distance to allow from contact before resuming chase after waiting
TrackingUpdatePeriod¶
TrackingUpdatePeriod = 5 second
How long to wait between acoustic queries
NumberOfPings¶
NumberOfPings = 1 count
Number of pings requested each time
Speed¶
Speed = 1 meter_per_second
Vehicle speed during driving intervals
Depth¶
Depth = 50 meter
Vehicle depth
WaitDepthDeadband¶
WaitDepthDeadband = 10 meter
Depth deviation to allow before using buoyancy to correct during wait
MinAltitude¶
MinAltitude = 5 meter
Minimum height above sea floor for the entire mission
MaxDepth¶
MaxDepth = 205 meter
Maximum depth of the enter mission
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission
ContactLatitude¶
ContactLatitude = 36.797 degree
The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.
ContactLongitude¶
ContactLongitude = -121.847 degree
The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.
Output¶
LocationUpdated¶
LocationUpdated = false
Mission variable (don't change). Flag to indicate contact lat/lon was updated
Chasing¶
Chasing = false
Mission variable (don't change). Flag to indicate whether in chase or wait mode
DistanceAllowed¶
DistanceAllowed = TailDistance
Mission variable (don't change). Allowable distance from contact before chasing