Engineering/zoomies_and_homies.tl¶
Mission ID: zoomies_and_homies_and_sampling
Mission Path: Engineering/zoomies_and_homies.tl
Depart the dock and zoom over to a location while homing and sampling. Once close enough, grab the fix end let the mission end.
Arguments¶
MissionTimeout¶
MissionTimeout = 12 hour
Maximum length of mission
AcousticContactTimeout¶
AcousticContactTimeout = 3 hour
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 = 20 count
The acoustic address of the asset to be tracked
ContactDepth¶
ContactDepth = 1 meter
The depth of the asset to be tracked
ContactDistance¶
ContactDistance = 150 meter
How close to get before stopping
SetNavFix¶
SetNavFix = true
Whether to take a fix from the acoustic beason upon acheiving contact distance.
NavFixLatitude¶
NavFixLatitude = 36.696 degree
The latitude of the beacon being homed to. This is the position used in the fix if setnavfix is true and the vehicle is within contact distance to the beacon.
NavFixLongitude¶
NavFixLongitude = -121.9415 degree
The longitude of the beacon being homed to. This is the position used in the fix if setnavfix is true and the vehicle is within contact distance to the beacon.
TrackingUpdatePeriod¶
TrackingUpdatePeriod = 10 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.
MinAltitude¶
MinAltitude = 7 meter
Minimum height above the sea floor for the entire mission.
Depth¶
Depth = 50 meter
Depth of flat and level flight during zooming/smearing
MaxDepth¶
MaxDepth = 75 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
SettleTime¶
SettleTime = 2 minute
Wait this long to settle after stopping the prop
CenterLatitude¶
CenterLatitude = 36.696 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.
CenterLongitude¶
CenterLongitude = -121.9415 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.
EnableFiring¶
EnableFiring = true
Enable firing. Initialized to true.
NumESPSamplers¶
NumESPSamplers = 2 count
Total number of ESP cartridges (Maximum 60. Set to a smaller number if not using all of them. Set to 0 to disable ESP sampling).
CircleRadius¶
CircleRadius = 25 meter
Radius of circle around acoustic contact during wait time
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.
Output¶
DetachTimeout¶
DetachTimeout = 20 minute
Maximum time to spend getting off the dock
CenterTouched¶
CenterTouched = false
Flag to indicate center lon/lat was updated.
DepthLogged¶
DepthLogged = 0.0 meter
TempLogged¶
TempLogged = 0.0 celsius
ChlLogged¶
ChlLogged = 0.0 microgram_per_liter
CntSamples¶
CntSamples = 1 count
Count of water samples (initilized to 1).
FlagSamplingOngoing¶
FlagSamplingOngoing = false
Flag of water sampling in process (initialized to false).
FlagFired¶
FlagFired = false
Flag of sample fired (initialized to false).
SampleCompleted¶
SampleCompleted = false
Sampling completed. Initialized to false.
SetNavFixCompleted¶
SetNavFixCompleted = false
The nav fix has been completed (initialized to false).
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.