Engineering/tritoncam_run_backseat_on_surface_expanding_donut.tl¶
Mission ID: run_backseat_on_surface_expanding_donut
Mission Path: Engineering/tritoncam_run_backseat_on_surface_expanding_donut.tl
(No description)
Arguments¶
ElapsedSinceMissionStarted¶
ElapsedSinceMissionStarted = 0 minute
PublishPeriod¶
PublishPeriod = 2 second
Re-publish period for the .bs* config below.
MinDepth¶
MinDepth = 10 meter
Absolute min of the frontseat-owned safety/search band. Published to the backseat as _.bs_min_depth_limit (cosmetic here — no diving on surface).
MaxDepth¶
MaxDepth = 60 meter
Absolute max of the frontseat-owned safety/search band. Published to the backseat as _.bs_max_depth_limit (cosmetic here — no diving on surface).
Strategy¶
Strategy = 3 count
Backseat strategy id (STRATEGY_IDS): 3=expanding_donut.
BsSignalThreshold¶
BsSignalThreshold = 10 count
expanding_donut signal_threshold: per-profile peak to mark a profile "high signal".
BsThreshHighSignalCounts¶
BsThreshHighSignalCounts = 1 count
expanding_donut thresh_high_signal_counts: consecutive high profiles -> start the spiral.
BsThreshLowSignalCounts¶
BsThreshLowSignalCounts = 1 count
expanding_donut thresh_low_signal_counts: consecutive low profiles -> back to transit.
BsMedianWindowSamples¶
BsMedianWindowSamples = 1 count
expanding_donut median_window_samples: median-filter length.
BsMaWindowSeconds¶
BsMaWindowSeconds = 2 second
expanding_donut ma_window_seconds: moving-average window.
BsRudderStart¶
BsRudderStart = 15 degree
expanding_donut rudder_start: tight first ring of the spiral.
BsRudderEnd¶
BsRudderEnd = 3 degree
expanding_donut rudder_end: widest ring of the spiral.
Output¶
None defined