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Engineering/trn_circle_portuguese_ledge.tl

Mission ID: trn_circle_portuguese_ledge

Mission Path: Engineering/trn_circle_portuguese_ledge.tl

This mission runs a circle around a specified centroid. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact.

Arguments

MissionTimeout

MissionTimeout = 2.5 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 150 minute

Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications

Depth

Depth = 50 meter

Mission depth.

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.

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

CenterLatitude

CenterLatitude = 36.696777 degree

The latitude of the center of the circle.

CenterLongitude

CenterLongitude = -121.941224 degree

The longitude of the center of the circle.

CenterNorthingsDelta

CenterNorthingsDelta = 0 meter

Desired change in latitude to achieve, expressed as a distance.

CenterEastingsDelta

CenterEastingsDelta = 0 meter

Desired change in longitude to achieve, expressed as a distance.

CircleRadius

CircleRadius = 218 meter

Radius of circle around acoustic contact during wait time

TrackingUpdatePeriod

TrackingUpdatePeriod = 15 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)

CircleMaxError

CircleMaxError = 10 meter

If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.

CircleTurnToPort

CircleTurnToPort = false

If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.

Speed

Speed = 1 meter_per_second

Vehicle speed.

SkipComms

SkipComms = true

Skip communications at start of mission.

SkipTrnPing

SkipTrnPing = false

Skip sending TrnPing acomms data (if ego vehicle).

PowerBackseat

PowerBackseat = true

Run the backseat computer

KwpHeading

KwpHeading = 0.010 radian_per_meter

Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)

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.

latest_contact_rx_time

latest_contact_rx_time = 0 second

latest_trn_update_time

latest_trn_update_time = 0 second

Output

None defined

Inserts

Insert/AbortDrift.tl

redefineArg AcousticTimeout = AcousticContactTimeout

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/Science.tl

Insert/BackseatDriver.tl

Invoked Module Behaviors

Estimation:Tracking

Guidance:Buoyancy

Guidance:Circle

Guidance:Mass

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait