Engineering/track_acoustic_open_loop.tl¶
Mission ID: track_acoustic_open_loop
Mission Path: Engineering/track_acoustic_open_loop.tl
Drive the vehicle along a fixed waypoint trajectory while tracking an acoustic contact in the background. The acoustic tracker is run for data collection only; the mission does NOT consume Estimation:TrackAcousticContact outputs to steer the vehicle, so the loop on the acoustic estimate is open. Use this to characterize what the acoustic estimator does for a given trajectory geometry.
Flight mode is controlled by FixedDepth: if FixedDepth is set, the vehicle flies flat-and-level at that depth (no fancy approach dive, transit-style); if FixedDepth is NaN, the vehicle yo-yos between YoYoMinDepth and YoYoMaxDepth. Up to 7 waypoints can be specified, and the whole sequence is repeated Repeat times.
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications.
AcousticContactTimeout¶
AcousticContactTimeout = 4 hour
If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications.
ContactLabel¶
ContactLabel = 0 count
The acoustic address of the asset to be tracked.
ContactDepth¶
ContactDepth = NaN meter
The depth of the asset to be tracked, if known.
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
Lat1¶
Lat1 = NaN degree
Latitude of waypoint 1. If NaN, waypoint is skipped.
Lon1¶
Lon1 = NaN degree
Longitude of waypoint 1. If NaN, waypoint is skipped.
Lat2¶
Lat2 = NaN degree
Latitude of waypoint 2. If NaN, waypoint is skipped.
Lon2¶
Lon2 = NaN degree
Longitude of waypoint 2. If NaN, waypoint is skipped.
Lat3¶
Lat3 = NaN degree
Latitude of waypoint 3. If NaN, waypoint is skipped.
Lon3¶
Lon3 = NaN degree
Longitude of waypoint 3. If NaN, waypoint is skipped.
Lat4¶
Lat4 = NaN degree
Latitude of waypoint 4. If NaN, waypoint is skipped.
Lon4¶
Lon4 = NaN degree
Longitude of waypoint 4. If NaN, waypoint is skipped.
Lat5¶
Lat5 = NaN degree
Latitude of waypoint 5. If NaN, waypoint is skipped.
Lon5¶
Lon5 = NaN degree
Longitude of waypoint 5. If NaN, waypoint is skipped.
Lat6¶
Lat6 = NaN degree
Latitude of waypoint 6. If NaN, waypoint is skipped.
Lon6¶
Lon6 = NaN degree
Longitude of waypoint 6. If NaN, waypoint is skipped.
Lat7¶
Lat7 = NaN degree
Latitude of waypoint 7. If NaN, waypoint is skipped.
Lon7¶
Lon7 = NaN degree
Longitude of waypoint 7. If NaN, waypoint is skipped.
Repeat¶
Repeat = 1 count
Number of times the vehicle should cycle through the full waypoint list.
FixEveryLeg¶
FixEveryLeg = false
If true, surface for a GPS fix before starting each waypoint leg (in addition to the end-of-lap fix). Tightens the dead-reckoning bounds for post-hoc trajectory reconstruction at the cost of extra surfacing time (~one NeedComms cycle per leg).
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
CaptureRadius¶
CaptureRadius = NaN meter
Waypoint capture radius. NaN uses the Guidance:Waypoint default.
FixedDepth¶
FixedDepth = NaN meter
If non-NaN, vehicle flies flat-and-level at this depth instead of yo-yoing. See yo-yo settings below for the NaN case.
YoYoMinDepth¶
YoYoMinDepth = 3 meter
Minimum depth during yo-yos. Ignored when FixedDepth is set.
YoYoMaxDepth¶
YoYoMaxDepth = 50 meter
Maximum depth during yo-yos. Ignored when FixedDepth is set.
YoYoMinAltitude¶
YoYoMinAltitude = 10 meter
Minimum altitude during yo-yos. Ignored when FixedDepth is set.
YoYoUpPitch¶
YoYoUpPitch = 20 degree
Up pitch during yo-yos. Ignored when FixedDepth is set.
YoYoDownPitch¶
YoYoDownPitch = -20 degree
Down pitch during yo-yos. Ignored when FixedDepth is set.
BuoyancyNeutral¶
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
Buoyancy bladder position. Set to NaN cc for active buoyancy control.
MassDefault¶
MassDefault = Control:VerticalControl.massDefault
Mass shifter position. Set to NaN mm for active mass control.
MinAltitude¶
MinAltitude = 7 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 105 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 1.5 kilometer
Minimum offshore distance for the entire mission.
Output¶
None defined
Inserts¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = AcousticContactTimeout